Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

moveit_msgs/KinematicSolverInfo.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?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_moveit_msgs_KinematicSolverInfo_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_KinematicSolverInfo_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 "moveit_msgs/JointLimits.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class KinematicSolverInfo : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 uint8_t joint_names_length;
akashvibhute 0:30537dec6e0b 17 char* st_joint_names;
akashvibhute 0:30537dec6e0b 18 char* * joint_names;
akashvibhute 0:30537dec6e0b 19 uint8_t limits_length;
akashvibhute 0:30537dec6e0b 20 moveit_msgs::JointLimits st_limits;
akashvibhute 0:30537dec6e0b 21 moveit_msgs::JointLimits * limits;
akashvibhute 0:30537dec6e0b 22 uint8_t link_names_length;
akashvibhute 0:30537dec6e0b 23 char* st_link_names;
akashvibhute 0:30537dec6e0b 24 char* * link_names;
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 KinematicSolverInfo():
akashvibhute 0:30537dec6e0b 27 joint_names_length(0), joint_names(NULL),
akashvibhute 0:30537dec6e0b 28 limits_length(0), limits(NULL),
akashvibhute 0:30537dec6e0b 29 link_names_length(0), link_names(NULL)
akashvibhute 0:30537dec6e0b 30 {
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 int offset = 0;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset++) = joint_names_length;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 for( uint8_t i = 0; i < joint_names_length; i++){
akashvibhute 0:30537dec6e0b 41 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
akashvibhute 0:30537dec6e0b 42 memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 43 offset += 4;
akashvibhute 0:30537dec6e0b 44 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
akashvibhute 0:30537dec6e0b 45 offset += length_joint_namesi;
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = limits_length;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 51 for( uint8_t i = 0; i < limits_length; i++){
akashvibhute 0:30537dec6e0b 52 offset += this->limits[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset++) = link_names_length;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 58 for( uint8_t i = 0; i < link_names_length; i++){
akashvibhute 0:30537dec6e0b 59 uint32_t length_link_namesi = strlen(this->link_names[i]);
akashvibhute 0:30537dec6e0b 60 memcpy(outbuffer + offset, &length_link_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 61 offset += 4;
akashvibhute 0:30537dec6e0b 62 memcpy(outbuffer + offset, this->link_names[i], length_link_namesi);
akashvibhute 0:30537dec6e0b 63 offset += length_link_namesi;
akashvibhute 0:30537dec6e0b 64 }
akashvibhute 0:30537dec6e0b 65 return offset;
akashvibhute 0:30537dec6e0b 66 }
akashvibhute 0:30537dec6e0b 67
akashvibhute 0:30537dec6e0b 68 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 69 {
akashvibhute 0:30537dec6e0b 70 int offset = 0;
akashvibhute 0:30537dec6e0b 71 uint8_t joint_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 72 if(joint_names_lengthT > joint_names_length)
akashvibhute 0:30537dec6e0b 73 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 74 offset += 3;
akashvibhute 0:30537dec6e0b 75 joint_names_length = joint_names_lengthT;
akashvibhute 0:30537dec6e0b 76 for( uint8_t i = 0; i < joint_names_length; i++){
akashvibhute 0:30537dec6e0b 77 uint32_t length_st_joint_names;
akashvibhute 0:30537dec6e0b 78 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 79 offset += 4;
akashvibhute 0:30537dec6e0b 80 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
akashvibhute 0:30537dec6e0b 81 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 82 }
akashvibhute 0:30537dec6e0b 83 inbuffer[offset+length_st_joint_names-1]=0;
akashvibhute 0:30537dec6e0b 84 this->st_joint_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 85 offset += length_st_joint_names;
akashvibhute 0:30537dec6e0b 86 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 87 }
akashvibhute 0:30537dec6e0b 88 uint8_t limits_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 89 if(limits_lengthT > limits_length)
akashvibhute 0:30537dec6e0b 90 this->limits = (moveit_msgs::JointLimits*)realloc(this->limits, limits_lengthT * sizeof(moveit_msgs::JointLimits));
akashvibhute 0:30537dec6e0b 91 offset += 3;
akashvibhute 0:30537dec6e0b 92 limits_length = limits_lengthT;
akashvibhute 0:30537dec6e0b 93 for( uint8_t i = 0; i < limits_length; i++){
akashvibhute 0:30537dec6e0b 94 offset += this->st_limits.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 95 memcpy( &(this->limits[i]), &(this->st_limits), sizeof(moveit_msgs::JointLimits));
akashvibhute 0:30537dec6e0b 96 }
akashvibhute 0:30537dec6e0b 97 uint8_t link_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 98 if(link_names_lengthT > link_names_length)
akashvibhute 0:30537dec6e0b 99 this->link_names = (char**)realloc(this->link_names, link_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 100 offset += 3;
akashvibhute 0:30537dec6e0b 101 link_names_length = link_names_lengthT;
akashvibhute 0:30537dec6e0b 102 for( uint8_t i = 0; i < link_names_length; i++){
akashvibhute 0:30537dec6e0b 103 uint32_t length_st_link_names;
akashvibhute 0:30537dec6e0b 104 memcpy(&length_st_link_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 105 offset += 4;
akashvibhute 0:30537dec6e0b 106 for(unsigned int k= offset; k< offset+length_st_link_names; ++k){
akashvibhute 0:30537dec6e0b 107 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 108 }
akashvibhute 0:30537dec6e0b 109 inbuffer[offset+length_st_link_names-1]=0;
akashvibhute 0:30537dec6e0b 110 this->st_link_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 111 offset += length_st_link_names;
akashvibhute 0:30537dec6e0b 112 memcpy( &(this->link_names[i]), &(this->st_link_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 113 }
akashvibhute 0:30537dec6e0b 114 return offset;
akashvibhute 0:30537dec6e0b 115 }
akashvibhute 0:30537dec6e0b 116
akashvibhute 0:30537dec6e0b 117 const char * getType(){ return "moveit_msgs/KinematicSolverInfo"; };
akashvibhute 0:30537dec6e0b 118 const char * getMD5(){ return "cc048557c0f9795c392dd80f8bb00489"; };
akashvibhute 0:30537dec6e0b 119
akashvibhute 0:30537dec6e0b 120 };
akashvibhute 0:30537dec6e0b 121
akashvibhute 0:30537dec6e0b 122 }
akashvibhute 0:30537dec6e0b 123 #endif