Diff: manipulation_msgs/GraspableObject.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/manipulation_msgs/GraspableObject.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,101 @@
+#ifndef _ROS_manipulation_msgs_GraspableObject_h
+#define _ROS_manipulation_msgs_GraspableObject_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "household_objects_database_msgs/DatabaseModelPose.h"
+#include "sensor_msgs/PointCloud.h"
+#include "manipulation_msgs/SceneRegion.h"
+
+namespace manipulation_msgs
+{
+
+  class GraspableObject : public ros::Msg
+  {
+    public:
+      const char* reference_frame_id;
+      uint8_t potential_models_length;
+      household_objects_database_msgs::DatabaseModelPose st_potential_models;
+      household_objects_database_msgs::DatabaseModelPose * potential_models;
+      sensor_msgs::PointCloud cluster;
+      manipulation_msgs::SceneRegion region;
+      const char* collision_name;
+
+    GraspableObject():
+      reference_frame_id(""),
+      potential_models_length(0), potential_models(NULL),
+      cluster(),
+      region(),
+      collision_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_reference_frame_id = strlen(this->reference_frame_id);
+      memcpy(outbuffer + offset, &length_reference_frame_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame_id, length_reference_frame_id);
+      offset += length_reference_frame_id;
+      *(outbuffer + offset++) = potential_models_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < potential_models_length; i++){
+      offset += this->potential_models[i].serialize(outbuffer + offset);
+      }
+      offset += this->cluster.serialize(outbuffer + offset);
+      offset += this->region.serialize(outbuffer + offset);
+      uint32_t length_collision_name = strlen(this->collision_name);
+      memcpy(outbuffer + offset, &length_collision_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision_name, length_collision_name);
+      offset += length_collision_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_reference_frame_id;
+      memcpy(&length_reference_frame_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame_id-1]=0;
+      this->reference_frame_id = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame_id;
+      uint8_t potential_models_lengthT = *(inbuffer + offset++);
+      if(potential_models_lengthT > potential_models_length)
+        this->potential_models = (household_objects_database_msgs::DatabaseModelPose*)realloc(this->potential_models, potential_models_lengthT * sizeof(household_objects_database_msgs::DatabaseModelPose));
+      offset += 3;
+      potential_models_length = potential_models_lengthT;
+      for( uint8_t i = 0; i < potential_models_length; i++){
+      offset += this->st_potential_models.deserialize(inbuffer + offset);
+        memcpy( &(this->potential_models[i]), &(this->st_potential_models), sizeof(household_objects_database_msgs::DatabaseModelPose));
+      }
+      offset += this->cluster.deserialize(inbuffer + offset);
+      offset += this->region.deserialize(inbuffer + offset);
+      uint32_t length_collision_name;
+      memcpy(&length_collision_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision_name-1]=0;
+      this->collision_name = (char *)(inbuffer + offset-1);
+      offset += length_collision_name;
+     return offset;
+    }
+
+    const char * getType(){ return "manipulation_msgs/GraspableObject"; };
+    const char * getMD5(){ return "e2efd13d8e2bbb4697a5d71f167bceaa"; };
+
+  };
+
+}
+#endif