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/MotionPlanResponse.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_MotionPlanResponse_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_MotionPlanResponse_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/RobotState.h"
akashvibhute 0:30537dec6e0b 9 #include "moveit_msgs/RobotTrajectory.h"
akashvibhute 0:30537dec6e0b 10 #include "moveit_msgs/MoveItErrorCodes.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class MotionPlanResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 moveit_msgs::RobotState trajectory_start;
akashvibhute 0:30537dec6e0b 19 const char* group_name;
akashvibhute 0:30537dec6e0b 20 moveit_msgs::RobotTrajectory trajectory;
akashvibhute 0:30537dec6e0b 21 float planning_time;
akashvibhute 0:30537dec6e0b 22 moveit_msgs::MoveItErrorCodes error_code;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 MotionPlanResponse():
akashvibhute 0:30537dec6e0b 25 trajectory_start(),
akashvibhute 0:30537dec6e0b 26 group_name(""),
akashvibhute 0:30537dec6e0b 27 trajectory(),
akashvibhute 0:30537dec6e0b 28 planning_time(0),
akashvibhute 0:30537dec6e0b 29 error_code()
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 offset += this->trajectory_start.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 uint32_t length_group_name = strlen(this->group_name);
akashvibhute 0:30537dec6e0b 38 memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 39 offset += 4;
akashvibhute 0:30537dec6e0b 40 memcpy(outbuffer + offset, this->group_name, length_group_name);
akashvibhute 0:30537dec6e0b 41 offset += length_group_name;
akashvibhute 0:30537dec6e0b 42 offset += this->trajectory.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 43 offset += serializeAvrFloat64(outbuffer + offset, this->planning_time);
akashvibhute 0:30537dec6e0b 44 offset += this->error_code.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 45 return offset;
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47
akashvibhute 0:30537dec6e0b 48 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 49 {
akashvibhute 0:30537dec6e0b 50 int offset = 0;
akashvibhute 0:30537dec6e0b 51 offset += this->trajectory_start.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 52 uint32_t length_group_name;
akashvibhute 0:30537dec6e0b 53 memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 54 offset += 4;
akashvibhute 0:30537dec6e0b 55 for(unsigned int k= offset; k< offset+length_group_name; ++k){
akashvibhute 0:30537dec6e0b 56 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 57 }
akashvibhute 0:30537dec6e0b 58 inbuffer[offset+length_group_name-1]=0;
akashvibhute 0:30537dec6e0b 59 this->group_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 60 offset += length_group_name;
akashvibhute 0:30537dec6e0b 61 offset += this->trajectory.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 62 offset += deserializeAvrFloat64(inbuffer + offset, &(this->planning_time));
akashvibhute 0:30537dec6e0b 63 offset += this->error_code.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 64 return offset;
akashvibhute 0:30537dec6e0b 65 }
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 const char * getType(){ return "moveit_msgs/MotionPlanResponse"; };
akashvibhute 0:30537dec6e0b 68 const char * getMD5(){ return "e493d20ab41424c48f671e152c70fc74"; };
akashvibhute 0:30537dec6e0b 69
akashvibhute 0:30537dec6e0b 70 };
akashvibhute 0:30537dec6e0b 71
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73 #endif