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/RobotState.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_RobotState_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_RobotState_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 "sensor_msgs/JointState.h"
akashvibhute 0:30537dec6e0b 9 #include "sensor_msgs/MultiDOFJointState.h"
akashvibhute 0:30537dec6e0b 10 #include "moveit_msgs/AttachedCollisionObject.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 RobotState : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 sensor_msgs::JointState joint_state;
akashvibhute 0:30537dec6e0b 19 sensor_msgs::MultiDOFJointState multi_dof_joint_state;
akashvibhute 0:30537dec6e0b 20 uint8_t attached_collision_objects_length;
akashvibhute 0:30537dec6e0b 21 moveit_msgs::AttachedCollisionObject st_attached_collision_objects;
akashvibhute 0:30537dec6e0b 22 moveit_msgs::AttachedCollisionObject * attached_collision_objects;
akashvibhute 0:30537dec6e0b 23 bool is_diff;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 RobotState():
akashvibhute 0:30537dec6e0b 26 joint_state(),
akashvibhute 0:30537dec6e0b 27 multi_dof_joint_state(),
akashvibhute 0:30537dec6e0b 28 attached_collision_objects_length(0), attached_collision_objects(NULL),
akashvibhute 0:30537dec6e0b 29 is_diff(0)
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->joint_state.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 offset += this->multi_dof_joint_state.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = attached_collision_objects_length;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 42 for( uint8_t i = 0; i < attached_collision_objects_length; i++){
akashvibhute 0:30537dec6e0b 43 offset += this->attached_collision_objects[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 44 }
akashvibhute 0:30537dec6e0b 45 union {
akashvibhute 0:30537dec6e0b 46 bool real;
akashvibhute 0:30537dec6e0b 47 uint8_t base;
akashvibhute 0:30537dec6e0b 48 } u_is_diff;
akashvibhute 0:30537dec6e0b 49 u_is_diff.real = this->is_diff;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset + 0) = (u_is_diff.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 51 offset += sizeof(this->is_diff);
akashvibhute 0:30537dec6e0b 52 return offset;
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54
akashvibhute 0:30537dec6e0b 55 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 56 {
akashvibhute 0:30537dec6e0b 57 int offset = 0;
akashvibhute 0:30537dec6e0b 58 offset += this->joint_state.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 59 offset += this->multi_dof_joint_state.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 60 uint8_t attached_collision_objects_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 61 if(attached_collision_objects_lengthT > attached_collision_objects_length)
akashvibhute 0:30537dec6e0b 62 this->attached_collision_objects = (moveit_msgs::AttachedCollisionObject*)realloc(this->attached_collision_objects, attached_collision_objects_lengthT * sizeof(moveit_msgs::AttachedCollisionObject));
akashvibhute 0:30537dec6e0b 63 offset += 3;
akashvibhute 0:30537dec6e0b 64 attached_collision_objects_length = attached_collision_objects_lengthT;
akashvibhute 0:30537dec6e0b 65 for( uint8_t i = 0; i < attached_collision_objects_length; i++){
akashvibhute 0:30537dec6e0b 66 offset += this->st_attached_collision_objects.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 67 memcpy( &(this->attached_collision_objects[i]), &(this->st_attached_collision_objects), sizeof(moveit_msgs::AttachedCollisionObject));
akashvibhute 0:30537dec6e0b 68 }
akashvibhute 0:30537dec6e0b 69 union {
akashvibhute 0:30537dec6e0b 70 bool real;
akashvibhute 0:30537dec6e0b 71 uint8_t base;
akashvibhute 0:30537dec6e0b 72 } u_is_diff;
akashvibhute 0:30537dec6e0b 73 u_is_diff.base = 0;
akashvibhute 0:30537dec6e0b 74 u_is_diff.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 75 this->is_diff = u_is_diff.real;
akashvibhute 0:30537dec6e0b 76 offset += sizeof(this->is_diff);
akashvibhute 0:30537dec6e0b 77 return offset;
akashvibhute 0:30537dec6e0b 78 }
akashvibhute 0:30537dec6e0b 79
akashvibhute 0:30537dec6e0b 80 const char * getType(){ return "moveit_msgs/RobotState"; };
akashvibhute 0:30537dec6e0b 81 const char * getMD5(){ return "217a2e8e5547f4162b13a37db9cb4da4"; };
akashvibhute 0:30537dec6e0b 82
akashvibhute 0:30537dec6e0b 83 };
akashvibhute 0:30537dec6e0b 84
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 #endif