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/PickupGoal.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_PickupGoal_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_PickupGoal_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/Grasp.h"
akashvibhute 0:30537dec6e0b 9 #include "moveit_msgs/Constraints.h"
akashvibhute 0:30537dec6e0b 10 #include "moveit_msgs/PlanningOptions.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 PickupGoal : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 const char* target_name;
akashvibhute 0:30537dec6e0b 19 const char* group_name;
akashvibhute 0:30537dec6e0b 20 const char* end_effector;
akashvibhute 0:30537dec6e0b 21 uint8_t possible_grasps_length;
akashvibhute 0:30537dec6e0b 22 moveit_msgs::Grasp st_possible_grasps;
akashvibhute 0:30537dec6e0b 23 moveit_msgs::Grasp * possible_grasps;
akashvibhute 0:30537dec6e0b 24 const char* support_surface_name;
akashvibhute 0:30537dec6e0b 25 bool allow_gripper_support_collision;
akashvibhute 0:30537dec6e0b 26 uint8_t attached_object_touch_links_length;
akashvibhute 0:30537dec6e0b 27 char* st_attached_object_touch_links;
akashvibhute 0:30537dec6e0b 28 char* * attached_object_touch_links;
akashvibhute 0:30537dec6e0b 29 bool minimize_object_distance;
akashvibhute 0:30537dec6e0b 30 moveit_msgs::Constraints path_constraints;
akashvibhute 0:30537dec6e0b 31 const char* planner_id;
akashvibhute 0:30537dec6e0b 32 uint8_t allowed_touch_objects_length;
akashvibhute 0:30537dec6e0b 33 char* st_allowed_touch_objects;
akashvibhute 0:30537dec6e0b 34 char* * allowed_touch_objects;
akashvibhute 0:30537dec6e0b 35 float allowed_planning_time;
akashvibhute 0:30537dec6e0b 36 moveit_msgs::PlanningOptions planning_options;
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 PickupGoal():
akashvibhute 0:30537dec6e0b 39 target_name(""),
akashvibhute 0:30537dec6e0b 40 group_name(""),
akashvibhute 0:30537dec6e0b 41 end_effector(""),
akashvibhute 0:30537dec6e0b 42 possible_grasps_length(0), possible_grasps(NULL),
akashvibhute 0:30537dec6e0b 43 support_surface_name(""),
akashvibhute 0:30537dec6e0b 44 allow_gripper_support_collision(0),
akashvibhute 0:30537dec6e0b 45 attached_object_touch_links_length(0), attached_object_touch_links(NULL),
akashvibhute 0:30537dec6e0b 46 minimize_object_distance(0),
akashvibhute 0:30537dec6e0b 47 path_constraints(),
akashvibhute 0:30537dec6e0b 48 planner_id(""),
akashvibhute 0:30537dec6e0b 49 allowed_touch_objects_length(0), allowed_touch_objects(NULL),
akashvibhute 0:30537dec6e0b 50 allowed_planning_time(0),
akashvibhute 0:30537dec6e0b 51 planning_options()
akashvibhute 0:30537dec6e0b 52 {
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54
akashvibhute 0:30537dec6e0b 55 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 56 {
akashvibhute 0:30537dec6e0b 57 int offset = 0;
akashvibhute 0:30537dec6e0b 58 uint32_t length_target_name = strlen(this->target_name);
akashvibhute 0:30537dec6e0b 59 memcpy(outbuffer + offset, &length_target_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 60 offset += 4;
akashvibhute 0:30537dec6e0b 61 memcpy(outbuffer + offset, this->target_name, length_target_name);
akashvibhute 0:30537dec6e0b 62 offset += length_target_name;
akashvibhute 0:30537dec6e0b 63 uint32_t length_group_name = strlen(this->group_name);
akashvibhute 0:30537dec6e0b 64 memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 65 offset += 4;
akashvibhute 0:30537dec6e0b 66 memcpy(outbuffer + offset, this->group_name, length_group_name);
akashvibhute 0:30537dec6e0b 67 offset += length_group_name;
akashvibhute 0:30537dec6e0b 68 uint32_t length_end_effector = strlen(this->end_effector);
akashvibhute 0:30537dec6e0b 69 memcpy(outbuffer + offset, &length_end_effector, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 70 offset += 4;
akashvibhute 0:30537dec6e0b 71 memcpy(outbuffer + offset, this->end_effector, length_end_effector);
akashvibhute 0:30537dec6e0b 72 offset += length_end_effector;
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset++) = possible_grasps_length;
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 77 for( uint8_t i = 0; i < possible_grasps_length; i++){
akashvibhute 0:30537dec6e0b 78 offset += this->possible_grasps[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 79 }
akashvibhute 0:30537dec6e0b 80 uint32_t length_support_surface_name = strlen(this->support_surface_name);
akashvibhute 0:30537dec6e0b 81 memcpy(outbuffer + offset, &length_support_surface_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 82 offset += 4;
akashvibhute 0:30537dec6e0b 83 memcpy(outbuffer + offset, this->support_surface_name, length_support_surface_name);
akashvibhute 0:30537dec6e0b 84 offset += length_support_surface_name;
akashvibhute 0:30537dec6e0b 85 union {
akashvibhute 0:30537dec6e0b 86 bool real;
akashvibhute 0:30537dec6e0b 87 uint8_t base;
akashvibhute 0:30537dec6e0b 88 } u_allow_gripper_support_collision;
akashvibhute 0:30537dec6e0b 89 u_allow_gripper_support_collision.real = this->allow_gripper_support_collision;
akashvibhute 0:30537dec6e0b 90 *(outbuffer + offset + 0) = (u_allow_gripper_support_collision.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 91 offset += sizeof(this->allow_gripper_support_collision);
akashvibhute 0:30537dec6e0b 92 *(outbuffer + offset++) = attached_object_touch_links_length;
akashvibhute 0:30537dec6e0b 93 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 94 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 95 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 96 for( uint8_t i = 0; i < attached_object_touch_links_length; i++){
akashvibhute 0:30537dec6e0b 97 uint32_t length_attached_object_touch_linksi = strlen(this->attached_object_touch_links[i]);
akashvibhute 0:30537dec6e0b 98 memcpy(outbuffer + offset, &length_attached_object_touch_linksi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 99 offset += 4;
akashvibhute 0:30537dec6e0b 100 memcpy(outbuffer + offset, this->attached_object_touch_links[i], length_attached_object_touch_linksi);
akashvibhute 0:30537dec6e0b 101 offset += length_attached_object_touch_linksi;
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103 union {
akashvibhute 0:30537dec6e0b 104 bool real;
akashvibhute 0:30537dec6e0b 105 uint8_t base;
akashvibhute 0:30537dec6e0b 106 } u_minimize_object_distance;
akashvibhute 0:30537dec6e0b 107 u_minimize_object_distance.real = this->minimize_object_distance;
akashvibhute 0:30537dec6e0b 108 *(outbuffer + offset + 0) = (u_minimize_object_distance.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 109 offset += sizeof(this->minimize_object_distance);
akashvibhute 0:30537dec6e0b 110 offset += this->path_constraints.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 111 uint32_t length_planner_id = strlen(this->planner_id);
akashvibhute 0:30537dec6e0b 112 memcpy(outbuffer + offset, &length_planner_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 113 offset += 4;
akashvibhute 0:30537dec6e0b 114 memcpy(outbuffer + offset, this->planner_id, length_planner_id);
akashvibhute 0:30537dec6e0b 115 offset += length_planner_id;
akashvibhute 0:30537dec6e0b 116 *(outbuffer + offset++) = allowed_touch_objects_length;
akashvibhute 0:30537dec6e0b 117 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 118 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 119 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 120 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
akashvibhute 0:30537dec6e0b 121 uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]);
akashvibhute 0:30537dec6e0b 122 memcpy(outbuffer + offset, &length_allowed_touch_objectsi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 123 offset += 4;
akashvibhute 0:30537dec6e0b 124 memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi);
akashvibhute 0:30537dec6e0b 125 offset += length_allowed_touch_objectsi;
akashvibhute 0:30537dec6e0b 126 }
akashvibhute 0:30537dec6e0b 127 offset += serializeAvrFloat64(outbuffer + offset, this->allowed_planning_time);
akashvibhute 0:30537dec6e0b 128 offset += this->planning_options.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 129 return offset;
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131
akashvibhute 0:30537dec6e0b 132 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 133 {
akashvibhute 0:30537dec6e0b 134 int offset = 0;
akashvibhute 0:30537dec6e0b 135 uint32_t length_target_name;
akashvibhute 0:30537dec6e0b 136 memcpy(&length_target_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 137 offset += 4;
akashvibhute 0:30537dec6e0b 138 for(unsigned int k= offset; k< offset+length_target_name; ++k){
akashvibhute 0:30537dec6e0b 139 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 140 }
akashvibhute 0:30537dec6e0b 141 inbuffer[offset+length_target_name-1]=0;
akashvibhute 0:30537dec6e0b 142 this->target_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 143 offset += length_target_name;
akashvibhute 0:30537dec6e0b 144 uint32_t length_group_name;
akashvibhute 0:30537dec6e0b 145 memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 146 offset += 4;
akashvibhute 0:30537dec6e0b 147 for(unsigned int k= offset; k< offset+length_group_name; ++k){
akashvibhute 0:30537dec6e0b 148 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 149 }
akashvibhute 0:30537dec6e0b 150 inbuffer[offset+length_group_name-1]=0;
akashvibhute 0:30537dec6e0b 151 this->group_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 152 offset += length_group_name;
akashvibhute 0:30537dec6e0b 153 uint32_t length_end_effector;
akashvibhute 0:30537dec6e0b 154 memcpy(&length_end_effector, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 155 offset += 4;
akashvibhute 0:30537dec6e0b 156 for(unsigned int k= offset; k< offset+length_end_effector; ++k){
akashvibhute 0:30537dec6e0b 157 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 158 }
akashvibhute 0:30537dec6e0b 159 inbuffer[offset+length_end_effector-1]=0;
akashvibhute 0:30537dec6e0b 160 this->end_effector = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 161 offset += length_end_effector;
akashvibhute 0:30537dec6e0b 162 uint8_t possible_grasps_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 163 if(possible_grasps_lengthT > possible_grasps_length)
akashvibhute 0:30537dec6e0b 164 this->possible_grasps = (moveit_msgs::Grasp*)realloc(this->possible_grasps, possible_grasps_lengthT * sizeof(moveit_msgs::Grasp));
akashvibhute 0:30537dec6e0b 165 offset += 3;
akashvibhute 0:30537dec6e0b 166 possible_grasps_length = possible_grasps_lengthT;
akashvibhute 0:30537dec6e0b 167 for( uint8_t i = 0; i < possible_grasps_length; i++){
akashvibhute 0:30537dec6e0b 168 offset += this->st_possible_grasps.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 169 memcpy( &(this->possible_grasps[i]), &(this->st_possible_grasps), sizeof(moveit_msgs::Grasp));
akashvibhute 0:30537dec6e0b 170 }
akashvibhute 0:30537dec6e0b 171 uint32_t length_support_surface_name;
akashvibhute 0:30537dec6e0b 172 memcpy(&length_support_surface_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 173 offset += 4;
akashvibhute 0:30537dec6e0b 174 for(unsigned int k= offset; k< offset+length_support_surface_name; ++k){
akashvibhute 0:30537dec6e0b 175 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 176 }
akashvibhute 0:30537dec6e0b 177 inbuffer[offset+length_support_surface_name-1]=0;
akashvibhute 0:30537dec6e0b 178 this->support_surface_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 179 offset += length_support_surface_name;
akashvibhute 0:30537dec6e0b 180 union {
akashvibhute 0:30537dec6e0b 181 bool real;
akashvibhute 0:30537dec6e0b 182 uint8_t base;
akashvibhute 0:30537dec6e0b 183 } u_allow_gripper_support_collision;
akashvibhute 0:30537dec6e0b 184 u_allow_gripper_support_collision.base = 0;
akashvibhute 0:30537dec6e0b 185 u_allow_gripper_support_collision.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 186 this->allow_gripper_support_collision = u_allow_gripper_support_collision.real;
akashvibhute 0:30537dec6e0b 187 offset += sizeof(this->allow_gripper_support_collision);
akashvibhute 0:30537dec6e0b 188 uint8_t attached_object_touch_links_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 189 if(attached_object_touch_links_lengthT > attached_object_touch_links_length)
akashvibhute 0:30537dec6e0b 190 this->attached_object_touch_links = (char**)realloc(this->attached_object_touch_links, attached_object_touch_links_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 191 offset += 3;
akashvibhute 0:30537dec6e0b 192 attached_object_touch_links_length = attached_object_touch_links_lengthT;
akashvibhute 0:30537dec6e0b 193 for( uint8_t i = 0; i < attached_object_touch_links_length; i++){
akashvibhute 0:30537dec6e0b 194 uint32_t length_st_attached_object_touch_links;
akashvibhute 0:30537dec6e0b 195 memcpy(&length_st_attached_object_touch_links, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 196 offset += 4;
akashvibhute 0:30537dec6e0b 197 for(unsigned int k= offset; k< offset+length_st_attached_object_touch_links; ++k){
akashvibhute 0:30537dec6e0b 198 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 199 }
akashvibhute 0:30537dec6e0b 200 inbuffer[offset+length_st_attached_object_touch_links-1]=0;
akashvibhute 0:30537dec6e0b 201 this->st_attached_object_touch_links = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 202 offset += length_st_attached_object_touch_links;
akashvibhute 0:30537dec6e0b 203 memcpy( &(this->attached_object_touch_links[i]), &(this->st_attached_object_touch_links), sizeof(char*));
akashvibhute 0:30537dec6e0b 204 }
akashvibhute 0:30537dec6e0b 205 union {
akashvibhute 0:30537dec6e0b 206 bool real;
akashvibhute 0:30537dec6e0b 207 uint8_t base;
akashvibhute 0:30537dec6e0b 208 } u_minimize_object_distance;
akashvibhute 0:30537dec6e0b 209 u_minimize_object_distance.base = 0;
akashvibhute 0:30537dec6e0b 210 u_minimize_object_distance.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 211 this->minimize_object_distance = u_minimize_object_distance.real;
akashvibhute 0:30537dec6e0b 212 offset += sizeof(this->minimize_object_distance);
akashvibhute 0:30537dec6e0b 213 offset += this->path_constraints.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 214 uint32_t length_planner_id;
akashvibhute 0:30537dec6e0b 215 memcpy(&length_planner_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 216 offset += 4;
akashvibhute 0:30537dec6e0b 217 for(unsigned int k= offset; k< offset+length_planner_id; ++k){
akashvibhute 0:30537dec6e0b 218 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 219 }
akashvibhute 0:30537dec6e0b 220 inbuffer[offset+length_planner_id-1]=0;
akashvibhute 0:30537dec6e0b 221 this->planner_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 222 offset += length_planner_id;
akashvibhute 0:30537dec6e0b 223 uint8_t allowed_touch_objects_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 224 if(allowed_touch_objects_lengthT > allowed_touch_objects_length)
akashvibhute 0:30537dec6e0b 225 this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 226 offset += 3;
akashvibhute 0:30537dec6e0b 227 allowed_touch_objects_length = allowed_touch_objects_lengthT;
akashvibhute 0:30537dec6e0b 228 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
akashvibhute 0:30537dec6e0b 229 uint32_t length_st_allowed_touch_objects;
akashvibhute 0:30537dec6e0b 230 memcpy(&length_st_allowed_touch_objects, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 231 offset += 4;
akashvibhute 0:30537dec6e0b 232 for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){
akashvibhute 0:30537dec6e0b 233 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 234 }
akashvibhute 0:30537dec6e0b 235 inbuffer[offset+length_st_allowed_touch_objects-1]=0;
akashvibhute 0:30537dec6e0b 236 this->st_allowed_touch_objects = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 237 offset += length_st_allowed_touch_objects;
akashvibhute 0:30537dec6e0b 238 memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*));
akashvibhute 0:30537dec6e0b 239 }
akashvibhute 0:30537dec6e0b 240 offset += deserializeAvrFloat64(inbuffer + offset, &(this->allowed_planning_time));
akashvibhute 0:30537dec6e0b 241 offset += this->planning_options.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 242 return offset;
akashvibhute 0:30537dec6e0b 243 }
akashvibhute 0:30537dec6e0b 244
akashvibhute 0:30537dec6e0b 245 const char * getType(){ return "moveit_msgs/PickupGoal"; };
akashvibhute 0:30537dec6e0b 246 const char * getMD5(){ return "458c6ab3761d73e99b070063f7b74c2a"; };
akashvibhute 0:30537dec6e0b 247
akashvibhute 0:30537dec6e0b 248 };
akashvibhute 0:30537dec6e0b 249
akashvibhute 0:30537dec6e0b 250 }
akashvibhute 0:30537dec6e0b 251 #endif