Diff: moveit_msgs/ContactInformation.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/ContactInformation.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,116 @@
+#ifndef _ROS_moveit_msgs_ContactInformation_h
+#define _ROS_moveit_msgs_ContactInformation_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace moveit_msgs
+{
+
+  class ContactInformation : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Point position;
+      geometry_msgs::Vector3 normal;
+      float depth;
+      const char* contact_body_1;
+      uint32_t body_type_1;
+      const char* contact_body_2;
+      uint32_t body_type_2;
+      enum { ROBOT_LINK = 0 };
+      enum { WORLD_OBJECT = 1 };
+      enum { ROBOT_ATTACHED = 2 };
+
+    ContactInformation():
+      header(),
+      position(),
+      normal(),
+      depth(0),
+      contact_body_1(""),
+      body_type_1(0),
+      contact_body_2(""),
+      body_type_2(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->position.serialize(outbuffer + offset);
+      offset += this->normal.serialize(outbuffer + offset);
+      offset += serializeAvrFloat64(outbuffer + offset, this->depth);
+      uint32_t length_contact_body_1 = strlen(this->contact_body_1);
+      memcpy(outbuffer + offset, &length_contact_body_1, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->contact_body_1, length_contact_body_1);
+      offset += length_contact_body_1;
+      *(outbuffer + offset + 0) = (this->body_type_1 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->body_type_1 >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->body_type_1 >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->body_type_1 >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->body_type_1);
+      uint32_t length_contact_body_2 = strlen(this->contact_body_2);
+      memcpy(outbuffer + offset, &length_contact_body_2, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->contact_body_2, length_contact_body_2);
+      offset += length_contact_body_2;
+      *(outbuffer + offset + 0) = (this->body_type_2 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->body_type_2 >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->body_type_2 >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->body_type_2 >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->body_type_2);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->position.deserialize(inbuffer + offset);
+      offset += this->normal.deserialize(inbuffer + offset);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->depth));
+      uint32_t length_contact_body_1;
+      memcpy(&length_contact_body_1, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_contact_body_1; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_contact_body_1-1]=0;
+      this->contact_body_1 = (char *)(inbuffer + offset-1);
+      offset += length_contact_body_1;
+      this->body_type_1 =  ((uint32_t) (*(inbuffer + offset)));
+      this->body_type_1 |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->body_type_1 |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->body_type_1 |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->body_type_1);
+      uint32_t length_contact_body_2;
+      memcpy(&length_contact_body_2, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_contact_body_2; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_contact_body_2-1]=0;
+      this->contact_body_2 = (char *)(inbuffer + offset-1);
+      offset += length_contact_body_2;
+      this->body_type_2 =  ((uint32_t) (*(inbuffer + offset)));
+      this->body_type_2 |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->body_type_2 |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->body_type_2 |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->body_type_2);
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/ContactInformation"; };
+    const char * getMD5(){ return "116228ca08b0c286ec5ca32a50fdc17b"; };
+
+  };
+
+}
+#endif