Diff: moveit_msgs/AttachedCollisionObject.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/AttachedCollisionObject.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,100 @@
+#ifndef _ROS_moveit_msgs_AttachedCollisionObject_h
+#define _ROS_moveit_msgs_AttachedCollisionObject_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/CollisionObject.h"
+#include "trajectory_msgs/JointTrajectory.h"
+
+namespace moveit_msgs
+{
+
+  class AttachedCollisionObject : public ros::Msg
+  {
+    public:
+      const char* link_name;
+      moveit_msgs::CollisionObject object;
+      uint8_t touch_links_length;
+      char* st_touch_links;
+      char* * touch_links;
+      trajectory_msgs::JointTrajectory detach_posture;
+      float weight;
+
+    AttachedCollisionObject():
+      link_name(""),
+      object(),
+      touch_links_length(0), touch_links(NULL),
+      detach_posture(),
+      weight(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      offset += this->object.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = touch_links_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < touch_links_length; i++){
+      uint32_t length_touch_linksi = strlen(this->touch_links[i]);
+      memcpy(outbuffer + offset, &length_touch_linksi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->touch_links[i], length_touch_linksi);
+      offset += length_touch_linksi;
+      }
+      offset += this->detach_posture.serialize(outbuffer + offset);
+      offset += serializeAvrFloat64(outbuffer + offset, this->weight);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      offset += this->object.deserialize(inbuffer + offset);
+      uint8_t touch_links_lengthT = *(inbuffer + offset++);
+      if(touch_links_lengthT > touch_links_length)
+        this->touch_links = (char**)realloc(this->touch_links, touch_links_lengthT * sizeof(char*));
+      offset += 3;
+      touch_links_length = touch_links_lengthT;
+      for( uint8_t i = 0; i < touch_links_length; i++){
+      uint32_t length_st_touch_links;
+      memcpy(&length_st_touch_links, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_touch_links; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_touch_links-1]=0;
+      this->st_touch_links = (char *)(inbuffer + offset-1);
+      offset += length_st_touch_links;
+        memcpy( &(this->touch_links[i]), &(this->st_touch_links), sizeof(char*));
+      }
+      offset += this->detach_posture.deserialize(inbuffer + offset);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->weight));
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/AttachedCollisionObject"; };
+    const char * getMD5(){ return "3ceac60b21e85bbd6c5b0ab9d476b752"; };
+
+  };
+
+}
+#endif