Diff: moveit_msgs/GetStateValidity.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/GetStateValidity.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,177 @@
+#ifndef _ROS_SERVICE_GetStateValidity_h
+#define _ROS_SERVICE_GetStateValidity_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/ConstraintEvalResult.h"
+#include "moveit_msgs/CostSource.h"
+#include "moveit_msgs/ContactInformation.h"
+#include "moveit_msgs/RobotState.h"
+#include "moveit_msgs/Constraints.h"
+
+namespace moveit_msgs
+{
+
+static const char GETSTATEVALIDITY[] = "moveit_msgs/GetStateValidity";
+
+  class GetStateValidityRequest : public ros::Msg
+  {
+    public:
+      moveit_msgs::RobotState robot_state;
+      const char* group_name;
+      moveit_msgs::Constraints constraints;
+
+    GetStateValidityRequest():
+      robot_state(),
+      group_name(""),
+      constraints()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->robot_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;
+      offset += this->constraints.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->robot_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;
+      offset += this->constraints.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETSTATEVALIDITY; };
+    const char * getMD5(){ return "b569c609cafad20ba7d0e46e70e7cab1"; };
+
+  };
+
+  class GetStateValidityResponse : public ros::Msg
+  {
+    public:
+      bool valid;
+      uint8_t contacts_length;
+      moveit_msgs::ContactInformation st_contacts;
+      moveit_msgs::ContactInformation * contacts;
+      uint8_t cost_sources_length;
+      moveit_msgs::CostSource st_cost_sources;
+      moveit_msgs::CostSource * cost_sources;
+      uint8_t constraint_result_length;
+      moveit_msgs::ConstraintEvalResult st_constraint_result;
+      moveit_msgs::ConstraintEvalResult * constraint_result;
+
+    GetStateValidityResponse():
+      valid(0),
+      contacts_length(0), contacts(NULL),
+      cost_sources_length(0), cost_sources(NULL),
+      constraint_result_length(0), constraint_result(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_valid;
+      u_valid.real = this->valid;
+      *(outbuffer + offset + 0) = (u_valid.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->valid);
+      *(outbuffer + offset++) = contacts_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < contacts_length; i++){
+      offset += this->contacts[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = cost_sources_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < cost_sources_length; i++){
+      offset += this->cost_sources[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = constraint_result_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < constraint_result_length; i++){
+      offset += this->constraint_result[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_valid;
+      u_valid.base = 0;
+      u_valid.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->valid = u_valid.real;
+      offset += sizeof(this->valid);
+      uint8_t contacts_lengthT = *(inbuffer + offset++);
+      if(contacts_lengthT > contacts_length)
+        this->contacts = (moveit_msgs::ContactInformation*)realloc(this->contacts, contacts_lengthT * sizeof(moveit_msgs::ContactInformation));
+      offset += 3;
+      contacts_length = contacts_lengthT;
+      for( uint8_t i = 0; i < contacts_length; i++){
+      offset += this->st_contacts.deserialize(inbuffer + offset);
+        memcpy( &(this->contacts[i]), &(this->st_contacts), sizeof(moveit_msgs::ContactInformation));
+      }
+      uint8_t cost_sources_lengthT = *(inbuffer + offset++);
+      if(cost_sources_lengthT > cost_sources_length)
+        this->cost_sources = (moveit_msgs::CostSource*)realloc(this->cost_sources, cost_sources_lengthT * sizeof(moveit_msgs::CostSource));
+      offset += 3;
+      cost_sources_length = cost_sources_lengthT;
+      for( uint8_t i = 0; i < cost_sources_length; i++){
+      offset += this->st_cost_sources.deserialize(inbuffer + offset);
+        memcpy( &(this->cost_sources[i]), &(this->st_cost_sources), sizeof(moveit_msgs::CostSource));
+      }
+      uint8_t constraint_result_lengthT = *(inbuffer + offset++);
+      if(constraint_result_lengthT > constraint_result_length)
+        this->constraint_result = (moveit_msgs::ConstraintEvalResult*)realloc(this->constraint_result, constraint_result_lengthT * sizeof(moveit_msgs::ConstraintEvalResult));
+      offset += 3;
+      constraint_result_length = constraint_result_lengthT;
+      for( uint8_t i = 0; i < constraint_result_length; i++){
+      offset += this->st_constraint_result.deserialize(inbuffer + offset);
+        memcpy( &(this->constraint_result[i]), &(this->st_constraint_result), sizeof(moveit_msgs::ConstraintEvalResult));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return GETSTATEVALIDITY; };
+    const char * getMD5(){ return "e326fb22b7448f29c0e726d9270d9929"; };
+
+  };
+
+  class GetStateValidity {
+    public:
+    typedef GetStateValidityRequest Request;
+    typedef GetStateValidityResponse Response;
+  };
+
+}
+#endif
+