rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
manipulation_msgs/GraspPlanningFeedback.h@0:30537dec6e0b, 2015-02-15 (annotated)
- Committer:
- akashvibhute
- Date:
- Sun Feb 15 10:53:43 2015 +0000
- Revision:
- 0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 0:30537dec6e0b | 1 | #ifndef _ROS_manipulation_msgs_GraspPlanningFeedback_h |
akashvibhute | 0:30537dec6e0b | 2 | #define _ROS_manipulation_msgs_GraspPlanningFeedback_h |
akashvibhute | 0:30537dec6e0b | 3 | |
akashvibhute | 0:30537dec6e0b | 4 | #include <stdint.h> |
akashvibhute | 0:30537dec6e0b | 5 | #include <string.h> |
akashvibhute | 0:30537dec6e0b | 6 | #include <stdlib.h> |
akashvibhute | 0:30537dec6e0b | 7 | #include "ros/msg.h" |
akashvibhute | 0:30537dec6e0b | 8 | #include "manipulation_msgs/Grasp.h" |
akashvibhute | 0:30537dec6e0b | 9 | |
akashvibhute | 0:30537dec6e0b | 10 | namespace manipulation_msgs |
akashvibhute | 0:30537dec6e0b | 11 | { |
akashvibhute | 0:30537dec6e0b | 12 | |
akashvibhute | 0:30537dec6e0b | 13 | class GraspPlanningFeedback : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 14 | { |
akashvibhute | 0:30537dec6e0b | 15 | public: |
akashvibhute | 0:30537dec6e0b | 16 | uint8_t grasps_length; |
akashvibhute | 0:30537dec6e0b | 17 | manipulation_msgs::Grasp st_grasps; |
akashvibhute | 0:30537dec6e0b | 18 | manipulation_msgs::Grasp * grasps; |
akashvibhute | 0:30537dec6e0b | 19 | |
akashvibhute | 0:30537dec6e0b | 20 | GraspPlanningFeedback(): |
akashvibhute | 0:30537dec6e0b | 21 | grasps_length(0), grasps(NULL) |
akashvibhute | 0:30537dec6e0b | 22 | { |
akashvibhute | 0:30537dec6e0b | 23 | } |
akashvibhute | 0:30537dec6e0b | 24 | |
akashvibhute | 0:30537dec6e0b | 25 | virtual int serialize(unsigned char *outbuffer) const |
akashvibhute | 0:30537dec6e0b | 26 | { |
akashvibhute | 0:30537dec6e0b | 27 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 28 | *(outbuffer + offset++) = grasps_length; |
akashvibhute | 0:30537dec6e0b | 29 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 30 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 31 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 32 | for( uint8_t i = 0; i < grasps_length; i++){ |
akashvibhute | 0:30537dec6e0b | 33 | offset += this->grasps[i].serialize(outbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 34 | } |
akashvibhute | 0:30537dec6e0b | 35 | return offset; |
akashvibhute | 0:30537dec6e0b | 36 | } |
akashvibhute | 0:30537dec6e0b | 37 | |
akashvibhute | 0:30537dec6e0b | 38 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 39 | { |
akashvibhute | 0:30537dec6e0b | 40 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 41 | uint8_t grasps_lengthT = *(inbuffer + offset++); |
akashvibhute | 0:30537dec6e0b | 42 | if(grasps_lengthT > grasps_length) |
akashvibhute | 0:30537dec6e0b | 43 | this->grasps = (manipulation_msgs::Grasp*)realloc(this->grasps, grasps_lengthT * sizeof(manipulation_msgs::Grasp)); |
akashvibhute | 0:30537dec6e0b | 44 | offset += 3; |
akashvibhute | 0:30537dec6e0b | 45 | grasps_length = grasps_lengthT; |
akashvibhute | 0:30537dec6e0b | 46 | for( uint8_t i = 0; i < grasps_length; i++){ |
akashvibhute | 0:30537dec6e0b | 47 | offset += this->st_grasps.deserialize(inbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 48 | memcpy( &(this->grasps[i]), &(this->st_grasps), sizeof(manipulation_msgs::Grasp)); |
akashvibhute | 0:30537dec6e0b | 49 | } |
akashvibhute | 0:30537dec6e0b | 50 | return offset; |
akashvibhute | 0:30537dec6e0b | 51 | } |
akashvibhute | 0:30537dec6e0b | 52 | |
akashvibhute | 0:30537dec6e0b | 53 | const char * getType(){ return "manipulation_msgs/GraspPlanningFeedback"; }; |
akashvibhute | 0:30537dec6e0b | 54 | const char * getMD5(){ return "0b493f83ef98679f05dc681205fbe54c"; }; |
akashvibhute | 0:30537dec6e0b | 55 | |
akashvibhute | 0:30537dec6e0b | 56 | }; |
akashvibhute | 0:30537dec6e0b | 57 | |
akashvibhute | 0:30537dec6e0b | 58 | } |
akashvibhute | 0:30537dec6e0b | 59 | #endif |