Diff: moveit_msgs/CollisionObject.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/CollisionObject.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,209 @@
+#ifndef _ROS_moveit_msgs_CollisionObject_h
+#define _ROS_moveit_msgs_CollisionObject_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "object_recognition_msgs/ObjectType.h"
+#include "shape_msgs/SolidPrimitive.h"
+#include "geometry_msgs/Pose.h"
+#include "shape_msgs/Mesh.h"
+#include "shape_msgs/Plane.h"
+
+namespace moveit_msgs
+{
+
+  class CollisionObject : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* id;
+      object_recognition_msgs::ObjectType type;
+      uint8_t primitives_length;
+      shape_msgs::SolidPrimitive st_primitives;
+      shape_msgs::SolidPrimitive * primitives;
+      uint8_t primitive_poses_length;
+      geometry_msgs::Pose st_primitive_poses;
+      geometry_msgs::Pose * primitive_poses;
+      uint8_t meshes_length;
+      shape_msgs::Mesh st_meshes;
+      shape_msgs::Mesh * meshes;
+      uint8_t mesh_poses_length;
+      geometry_msgs::Pose st_mesh_poses;
+      geometry_msgs::Pose * mesh_poses;
+      uint8_t planes_length;
+      shape_msgs::Plane st_planes;
+      shape_msgs::Plane * planes;
+      uint8_t plane_poses_length;
+      geometry_msgs::Pose st_plane_poses;
+      geometry_msgs::Pose * plane_poses;
+      int8_t operation;
+      enum { ADD = 0 };
+      enum { REMOVE = 1 };
+      enum { APPEND = 2 };
+      enum { MOVE = 3 };
+
+    CollisionObject():
+      header(),
+      id(""),
+      type(),
+      primitives_length(0), primitives(NULL),
+      primitive_poses_length(0), primitive_poses(NULL),
+      meshes_length(0), meshes(NULL),
+      mesh_poses_length(0), mesh_poses(NULL),
+      planes_length(0), planes(NULL),
+      plane_poses_length(0), plane_poses(NULL),
+      operation(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_id = strlen(this->id);
+      memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      offset += this->type.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = primitives_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < primitives_length; i++){
+      offset += this->primitives[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = primitive_poses_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < primitive_poses_length; i++){
+      offset += this->primitive_poses[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = meshes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < meshes_length; i++){
+      offset += this->meshes[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = mesh_poses_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < mesh_poses_length; i++){
+      offset += this->mesh_poses[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = planes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < planes_length; i++){
+      offset += this->planes[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = plane_poses_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < plane_poses_length; i++){
+      offset += this->plane_poses[i].serialize(outbuffer + offset);
+      }
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_operation;
+      u_operation.real = this->operation;
+      *(outbuffer + offset + 0) = (u_operation.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->operation);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_id;
+      memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+      offset += this->type.deserialize(inbuffer + offset);
+      uint8_t primitives_lengthT = *(inbuffer + offset++);
+      if(primitives_lengthT > primitives_length)
+        this->primitives = (shape_msgs::SolidPrimitive*)realloc(this->primitives, primitives_lengthT * sizeof(shape_msgs::SolidPrimitive));
+      offset += 3;
+      primitives_length = primitives_lengthT;
+      for( uint8_t i = 0; i < primitives_length; i++){
+      offset += this->st_primitives.deserialize(inbuffer + offset);
+        memcpy( &(this->primitives[i]), &(this->st_primitives), sizeof(shape_msgs::SolidPrimitive));
+      }
+      uint8_t primitive_poses_lengthT = *(inbuffer + offset++);
+      if(primitive_poses_lengthT > primitive_poses_length)
+        this->primitive_poses = (geometry_msgs::Pose*)realloc(this->primitive_poses, primitive_poses_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      primitive_poses_length = primitive_poses_lengthT;
+      for( uint8_t i = 0; i < primitive_poses_length; i++){
+      offset += this->st_primitive_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->primitive_poses[i]), &(this->st_primitive_poses), sizeof(geometry_msgs::Pose));
+      }
+      uint8_t meshes_lengthT = *(inbuffer + offset++);
+      if(meshes_lengthT > meshes_length)
+        this->meshes = (shape_msgs::Mesh*)realloc(this->meshes, meshes_lengthT * sizeof(shape_msgs::Mesh));
+      offset += 3;
+      meshes_length = meshes_lengthT;
+      for( uint8_t i = 0; i < meshes_length; i++){
+      offset += this->st_meshes.deserialize(inbuffer + offset);
+        memcpy( &(this->meshes[i]), &(this->st_meshes), sizeof(shape_msgs::Mesh));
+      }
+      uint8_t mesh_poses_lengthT = *(inbuffer + offset++);
+      if(mesh_poses_lengthT > mesh_poses_length)
+        this->mesh_poses = (geometry_msgs::Pose*)realloc(this->mesh_poses, mesh_poses_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      mesh_poses_length = mesh_poses_lengthT;
+      for( uint8_t i = 0; i < mesh_poses_length; i++){
+      offset += this->st_mesh_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->mesh_poses[i]), &(this->st_mesh_poses), sizeof(geometry_msgs::Pose));
+      }
+      uint8_t planes_lengthT = *(inbuffer + offset++);
+      if(planes_lengthT > planes_length)
+        this->planes = (shape_msgs::Plane*)realloc(this->planes, planes_lengthT * sizeof(shape_msgs::Plane));
+      offset += 3;
+      planes_length = planes_lengthT;
+      for( uint8_t i = 0; i < planes_length; i++){
+      offset += this->st_planes.deserialize(inbuffer + offset);
+        memcpy( &(this->planes[i]), &(this->st_planes), sizeof(shape_msgs::Plane));
+      }
+      uint8_t plane_poses_lengthT = *(inbuffer + offset++);
+      if(plane_poses_lengthT > plane_poses_length)
+        this->plane_poses = (geometry_msgs::Pose*)realloc(this->plane_poses, plane_poses_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      plane_poses_length = plane_poses_lengthT;
+      for( uint8_t i = 0; i < plane_poses_length; i++){
+      offset += this->st_plane_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->plane_poses[i]), &(this->st_plane_poses), sizeof(geometry_msgs::Pose));
+      }
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_operation;
+      u_operation.base = 0;
+      u_operation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->operation = u_operation.real;
+      offset += sizeof(this->operation);
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/CollisionObject"; };
+    const char * getMD5(){ return "568a161b26dc46c54a5a07621ce82cf3"; };
+
+  };
+
+}
+#endif