Diff: moveit_msgs/DisplayTrajectory.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/DisplayTrajectory.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,80 @@
+#ifndef _ROS_moveit_msgs_DisplayTrajectory_h
+#define _ROS_moveit_msgs_DisplayTrajectory_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/RobotTrajectory.h"
+#include "moveit_msgs/RobotState.h"
+
+namespace moveit_msgs
+{
+
+  class DisplayTrajectory : public ros::Msg
+  {
+    public:
+      const char* model_id;
+      uint8_t trajectory_length;
+      moveit_msgs::RobotTrajectory st_trajectory;
+      moveit_msgs::RobotTrajectory * trajectory;
+      moveit_msgs::RobotState trajectory_start;
+
+    DisplayTrajectory():
+      model_id(""),
+      trajectory_length(0), trajectory(NULL),
+      trajectory_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_id = strlen(this->model_id);
+      memcpy(outbuffer + offset, &length_model_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_id, length_model_id);
+      offset += length_model_id;
+      *(outbuffer + offset++) = trajectory_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < trajectory_length; i++){
+      offset += this->trajectory[i].serialize(outbuffer + offset);
+      }
+      offset += this->trajectory_start.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_id;
+      memcpy(&length_model_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_id-1]=0;
+      this->model_id = (char *)(inbuffer + offset-1);
+      offset += length_model_id;
+      uint8_t trajectory_lengthT = *(inbuffer + offset++);
+      if(trajectory_lengthT > trajectory_length)
+        this->trajectory = (moveit_msgs::RobotTrajectory*)realloc(this->trajectory, trajectory_lengthT * sizeof(moveit_msgs::RobotTrajectory));
+      offset += 3;
+      trajectory_length = trajectory_lengthT;
+      for( uint8_t i = 0; i < trajectory_length; i++){
+      offset += this->st_trajectory.deserialize(inbuffer + offset);
+        memcpy( &(this->trajectory[i]), &(this->st_trajectory), sizeof(moveit_msgs::RobotTrajectory));
+      }
+      offset += this->trajectory_start.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/DisplayTrajectory"; };
+    const char * getMD5(){ return "c3c039261ab9e8a11457dac56b6316c8"; };
+
+  };
+
+}
+#endif