Diff: moveit_msgs/GetCartesianPath.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/GetCartesianPath.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,182 @@
+#ifndef _ROS_SERVICE_GetCartesianPath_h
+#define _ROS_SERVICE_GetCartesianPath_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "moveit_msgs/RobotTrajectory.h"
+#include "moveit_msgs/RobotState.h"
+#include "moveit_msgs/MoveItErrorCodes.h"
+#include "geometry_msgs/Pose.h"
+#include "moveit_msgs/Constraints.h"
+
+namespace moveit_msgs
+{
+
+static const char GETCARTESIANPATH[] = "moveit_msgs/GetCartesianPath";
+
+  class GetCartesianPathRequest : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      moveit_msgs::RobotState start_state;
+      const char* group_name;
+      const char* link_name;
+      uint8_t waypoints_length;
+      geometry_msgs::Pose st_waypoints;
+      geometry_msgs::Pose * waypoints;
+      float max_step;
+      float jump_threshold;
+      bool avoid_collisions;
+      moveit_msgs::Constraints path_constraints;
+
+    GetCartesianPathRequest():
+      header(),
+      start_state(),
+      group_name(""),
+      link_name(""),
+      waypoints_length(0), waypoints(NULL),
+      max_step(0),
+      jump_threshold(0),
+      avoid_collisions(0),
+      path_constraints()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->start_state.serialize(outbuffer + offset);
+      uint32_t length_group_name = strlen(this->group_name);
+      memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->group_name, length_group_name);
+      offset += length_group_name;
+      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;
+      *(outbuffer + offset++) = waypoints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < waypoints_length; i++){
+      offset += this->waypoints[i].serialize(outbuffer + offset);
+      }
+      offset += serializeAvrFloat64(outbuffer + offset, this->max_step);
+      offset += serializeAvrFloat64(outbuffer + offset, this->jump_threshold);
+      union {
+        bool real;
+        uint8_t base;
+      } u_avoid_collisions;
+      u_avoid_collisions.real = this->avoid_collisions;
+      *(outbuffer + offset + 0) = (u_avoid_collisions.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->avoid_collisions);
+      offset += this->path_constraints.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->start_state.deserialize(inbuffer + offset);
+      uint32_t length_group_name;
+      memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_group_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_group_name-1]=0;
+      this->group_name = (char *)(inbuffer + offset-1);
+      offset += length_group_name;
+      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;
+      uint8_t waypoints_lengthT = *(inbuffer + offset++);
+      if(waypoints_lengthT > waypoints_length)
+        this->waypoints = (geometry_msgs::Pose*)realloc(this->waypoints, waypoints_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      waypoints_length = waypoints_lengthT;
+      for( uint8_t i = 0; i < waypoints_length; i++){
+      offset += this->st_waypoints.deserialize(inbuffer + offset);
+        memcpy( &(this->waypoints[i]), &(this->st_waypoints), sizeof(geometry_msgs::Pose));
+      }
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_step));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->jump_threshold));
+      union {
+        bool real;
+        uint8_t base;
+      } u_avoid_collisions;
+      u_avoid_collisions.base = 0;
+      u_avoid_collisions.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->avoid_collisions = u_avoid_collisions.real;
+      offset += sizeof(this->avoid_collisions);
+      offset += this->path_constraints.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETCARTESIANPATH; };
+    const char * getMD5(){ return "b37c16ad7ed838d811a270a8054276b6"; };
+
+  };
+
+  class GetCartesianPathResponse : public ros::Msg
+  {
+    public:
+      moveit_msgs::RobotState start_state;
+      moveit_msgs::RobotTrajectory solution;
+      float fraction;
+      moveit_msgs::MoveItErrorCodes error_code;
+
+    GetCartesianPathResponse():
+      start_state(),
+      solution(),
+      fraction(0),
+      error_code()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->start_state.serialize(outbuffer + offset);
+      offset += this->solution.serialize(outbuffer + offset);
+      offset += serializeAvrFloat64(outbuffer + offset, this->fraction);
+      offset += this->error_code.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->start_state.deserialize(inbuffer + offset);
+      offset += this->solution.deserialize(inbuffer + offset);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->fraction));
+      offset += this->error_code.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETCARTESIANPATH; };
+    const char * getMD5(){ return "45414110461a45eb0e273e013924ce59"; };
+
+  };
+
+  class GetCartesianPath {
+    public:
+    typedef GetCartesianPathRequest Request;
+    typedef GetCartesianPathResponse Response;
+  };
+
+}
+#endif
+