Diff: manipulation_msgs/GraspPlanning.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/manipulation_msgs/GraspPlanning.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,190 @@
+#ifndef _ROS_SERVICE_GraspPlanning_h
+#define _ROS_SERVICE_GraspPlanning_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "manipulation_msgs/GraspPlanningErrorCode.h"
+#include "manipulation_msgs/GraspableObject.h"
+#include "manipulation_msgs/Grasp.h"
+
+namespace manipulation_msgs
+{
+
+static const char GRASPPLANNING[] = "manipulation_msgs/GraspPlanning";
+
+  class GraspPlanningRequest : public ros::Msg
+  {
+    public:
+      const char* arm_name;
+      manipulation_msgs::GraspableObject target;
+      const char* collision_object_name;
+      const char* collision_support_surface_name;
+      uint8_t grasps_to_evaluate_length;
+      manipulation_msgs::Grasp st_grasps_to_evaluate;
+      manipulation_msgs::Grasp * grasps_to_evaluate;
+      uint8_t movable_obstacles_length;
+      manipulation_msgs::GraspableObject st_movable_obstacles;
+      manipulation_msgs::GraspableObject * movable_obstacles;
+
+    GraspPlanningRequest():
+      arm_name(""),
+      target(),
+      collision_object_name(""),
+      collision_support_surface_name(""),
+      grasps_to_evaluate_length(0), grasps_to_evaluate(NULL),
+      movable_obstacles_length(0), movable_obstacles(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_arm_name = strlen(this->arm_name);
+      memcpy(outbuffer + offset, &length_arm_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->arm_name, length_arm_name);
+      offset += length_arm_name;
+      offset += this->target.serialize(outbuffer + offset);
+      uint32_t length_collision_object_name = strlen(this->collision_object_name);
+      memcpy(outbuffer + offset, &length_collision_object_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision_object_name, length_collision_object_name);
+      offset += length_collision_object_name;
+      uint32_t length_collision_support_surface_name = strlen(this->collision_support_surface_name);
+      memcpy(outbuffer + offset, &length_collision_support_surface_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision_support_surface_name, length_collision_support_surface_name);
+      offset += length_collision_support_surface_name;
+      *(outbuffer + offset++) = grasps_to_evaluate_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < grasps_to_evaluate_length; i++){
+      offset += this->grasps_to_evaluate[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = movable_obstacles_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < movable_obstacles_length; i++){
+      offset += this->movable_obstacles[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_arm_name;
+      memcpy(&length_arm_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_arm_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_arm_name-1]=0;
+      this->arm_name = (char *)(inbuffer + offset-1);
+      offset += length_arm_name;
+      offset += this->target.deserialize(inbuffer + offset);
+      uint32_t length_collision_object_name;
+      memcpy(&length_collision_object_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision_object_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision_object_name-1]=0;
+      this->collision_object_name = (char *)(inbuffer + offset-1);
+      offset += length_collision_object_name;
+      uint32_t length_collision_support_surface_name;
+      memcpy(&length_collision_support_surface_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision_support_surface_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision_support_surface_name-1]=0;
+      this->collision_support_surface_name = (char *)(inbuffer + offset-1);
+      offset += length_collision_support_surface_name;
+      uint8_t grasps_to_evaluate_lengthT = *(inbuffer + offset++);
+      if(grasps_to_evaluate_lengthT > grasps_to_evaluate_length)
+        this->grasps_to_evaluate = (manipulation_msgs::Grasp*)realloc(this->grasps_to_evaluate, grasps_to_evaluate_lengthT * sizeof(manipulation_msgs::Grasp));
+      offset += 3;
+      grasps_to_evaluate_length = grasps_to_evaluate_lengthT;
+      for( uint8_t i = 0; i < grasps_to_evaluate_length; i++){
+      offset += this->st_grasps_to_evaluate.deserialize(inbuffer + offset);
+        memcpy( &(this->grasps_to_evaluate[i]), &(this->st_grasps_to_evaluate), sizeof(manipulation_msgs::Grasp));
+      }
+      uint8_t movable_obstacles_lengthT = *(inbuffer + offset++);
+      if(movable_obstacles_lengthT > movable_obstacles_length)
+        this->movable_obstacles = (manipulation_msgs::GraspableObject*)realloc(this->movable_obstacles, movable_obstacles_lengthT * sizeof(manipulation_msgs::GraspableObject));
+      offset += 3;
+      movable_obstacles_length = movable_obstacles_lengthT;
+      for( uint8_t i = 0; i < movable_obstacles_length; i++){
+      offset += this->st_movable_obstacles.deserialize(inbuffer + offset);
+        memcpy( &(this->movable_obstacles[i]), &(this->st_movable_obstacles), sizeof(manipulation_msgs::GraspableObject));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return GRASPPLANNING; };
+    const char * getMD5(){ return "077dca08a07415d82d6ab047890161f4"; };
+
+  };
+
+  class GraspPlanningResponse : public ros::Msg
+  {
+    public:
+      uint8_t grasps_length;
+      manipulation_msgs::Grasp st_grasps;
+      manipulation_msgs::Grasp * grasps;
+      manipulation_msgs::GraspPlanningErrorCode error_code;
+
+    GraspPlanningResponse():
+      grasps_length(0), grasps(NULL),
+      error_code()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = grasps_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < grasps_length; i++){
+      offset += this->grasps[i].serialize(outbuffer + offset);
+      }
+      offset += this->error_code.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t grasps_lengthT = *(inbuffer + offset++);
+      if(grasps_lengthT > grasps_length)
+        this->grasps = (manipulation_msgs::Grasp*)realloc(this->grasps, grasps_lengthT * sizeof(manipulation_msgs::Grasp));
+      offset += 3;
+      grasps_length = grasps_lengthT;
+      for( uint8_t i = 0; i < grasps_length; i++){
+      offset += this->st_grasps.deserialize(inbuffer + offset);
+        memcpy( &(this->grasps[i]), &(this->st_grasps), sizeof(manipulation_msgs::Grasp));
+      }
+      offset += this->error_code.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GRASPPLANNING; };
+    const char * getMD5(){ return "ff7a88c4aec40207164535a24dc9c440"; };
+
+  };
+
+  class GraspPlanning {
+    public:
+    typedef GraspPlanningRequest Request;
+    typedef GraspPlanningResponse Response;
+  };
+
+}
+#endif
+