Diff: moveit_msgs/Constraints.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/Constraints.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,138 @@
+#ifndef _ROS_moveit_msgs_Constraints_h
+#define _ROS_moveit_msgs_Constraints_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/JointConstraint.h"
+#include "moveit_msgs/PositionConstraint.h"
+#include "moveit_msgs/OrientationConstraint.h"
+#include "moveit_msgs/VisibilityConstraint.h"
+
+namespace moveit_msgs
+{
+
+  class Constraints : public ros::Msg
+  {
+    public:
+      const char* name;
+      uint8_t joint_constraints_length;
+      moveit_msgs::JointConstraint st_joint_constraints;
+      moveit_msgs::JointConstraint * joint_constraints;
+      uint8_t position_constraints_length;
+      moveit_msgs::PositionConstraint st_position_constraints;
+      moveit_msgs::PositionConstraint * position_constraints;
+      uint8_t orientation_constraints_length;
+      moveit_msgs::OrientationConstraint st_orientation_constraints;
+      moveit_msgs::OrientationConstraint * orientation_constraints;
+      uint8_t visibility_constraints_length;
+      moveit_msgs::VisibilityConstraint st_visibility_constraints;
+      moveit_msgs::VisibilityConstraint * visibility_constraints;
+
+    Constraints():
+      name(""),
+      joint_constraints_length(0), joint_constraints(NULL),
+      position_constraints_length(0), position_constraints(NULL),
+      orientation_constraints_length(0), orientation_constraints(NULL),
+      visibility_constraints_length(0), visibility_constraints(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset++) = joint_constraints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_constraints_length; i++){
+      offset += this->joint_constraints[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = position_constraints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < position_constraints_length; i++){
+      offset += this->position_constraints[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = orientation_constraints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < orientation_constraints_length; i++){
+      offset += this->orientation_constraints[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = visibility_constraints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < visibility_constraints_length; i++){
+      offset += this->visibility_constraints[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint8_t joint_constraints_lengthT = *(inbuffer + offset++);
+      if(joint_constraints_lengthT > joint_constraints_length)
+        this->joint_constraints = (moveit_msgs::JointConstraint*)realloc(this->joint_constraints, joint_constraints_lengthT * sizeof(moveit_msgs::JointConstraint));
+      offset += 3;
+      joint_constraints_length = joint_constraints_lengthT;
+      for( uint8_t i = 0; i < joint_constraints_length; i++){
+      offset += this->st_joint_constraints.deserialize(inbuffer + offset);
+        memcpy( &(this->joint_constraints[i]), &(this->st_joint_constraints), sizeof(moveit_msgs::JointConstraint));
+      }
+      uint8_t position_constraints_lengthT = *(inbuffer + offset++);
+      if(position_constraints_lengthT > position_constraints_length)
+        this->position_constraints = (moveit_msgs::PositionConstraint*)realloc(this->position_constraints, position_constraints_lengthT * sizeof(moveit_msgs::PositionConstraint));
+      offset += 3;
+      position_constraints_length = position_constraints_lengthT;
+      for( uint8_t i = 0; i < position_constraints_length; i++){
+      offset += this->st_position_constraints.deserialize(inbuffer + offset);
+        memcpy( &(this->position_constraints[i]), &(this->st_position_constraints), sizeof(moveit_msgs::PositionConstraint));
+      }
+      uint8_t orientation_constraints_lengthT = *(inbuffer + offset++);
+      if(orientation_constraints_lengthT > orientation_constraints_length)
+        this->orientation_constraints = (moveit_msgs::OrientationConstraint*)realloc(this->orientation_constraints, orientation_constraints_lengthT * sizeof(moveit_msgs::OrientationConstraint));
+      offset += 3;
+      orientation_constraints_length = orientation_constraints_lengthT;
+      for( uint8_t i = 0; i < orientation_constraints_length; i++){
+      offset += this->st_orientation_constraints.deserialize(inbuffer + offset);
+        memcpy( &(this->orientation_constraints[i]), &(this->st_orientation_constraints), sizeof(moveit_msgs::OrientationConstraint));
+      }
+      uint8_t visibility_constraints_lengthT = *(inbuffer + offset++);
+      if(visibility_constraints_lengthT > visibility_constraints_length)
+        this->visibility_constraints = (moveit_msgs::VisibilityConstraint*)realloc(this->visibility_constraints, visibility_constraints_lengthT * sizeof(moveit_msgs::VisibilityConstraint));
+      offset += 3;
+      visibility_constraints_length = visibility_constraints_lengthT;
+      for( uint8_t i = 0; i < visibility_constraints_length; i++){
+      offset += this->st_visibility_constraints.deserialize(inbuffer + offset);
+        memcpy( &(this->visibility_constraints[i]), &(this->st_visibility_constraints), sizeof(moveit_msgs::VisibilityConstraint));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/Constraints"; };
+    const char * getMD5(){ return "8d5ce8d34ef26c65fb5d43c9e99bf6e0"; };
+
+  };
+
+}
+#endif