Diff: moveit_msgs/MotionPlanDetailedResponse.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/MotionPlanDetailedResponse.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,137 @@
+#ifndef _ROS_moveit_msgs_MotionPlanDetailedResponse_h
+#define _ROS_moveit_msgs_MotionPlanDetailedResponse_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/RobotState.h"
+#include "moveit_msgs/RobotTrajectory.h"
+#include "moveit_msgs/MoveItErrorCodes.h"
+
+namespace moveit_msgs
+{
+
+  class MotionPlanDetailedResponse : public ros::Msg
+  {
+    public:
+      moveit_msgs::RobotState trajectory_start;
+      const char* group_name;
+      uint8_t trajectory_length;
+      moveit_msgs::RobotTrajectory st_trajectory;
+      moveit_msgs::RobotTrajectory * trajectory;
+      uint8_t description_length;
+      char* st_description;
+      char* * description;
+      uint8_t processing_time_length;
+      float st_processing_time;
+      float * processing_time;
+      moveit_msgs::MoveItErrorCodes error_code;
+
+    MotionPlanDetailedResponse():
+      trajectory_start(),
+      group_name(""),
+      trajectory_length(0), trajectory(NULL),
+      description_length(0), description(NULL),
+      processing_time_length(0), processing_time(NULL),
+      error_code()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->trajectory_start.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;
+      *(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);
+      }
+      *(outbuffer + offset++) = description_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < description_length; i++){
+      uint32_t length_descriptioni = strlen(this->description[i]);
+      memcpy(outbuffer + offset, &length_descriptioni, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->description[i], length_descriptioni);
+      offset += length_descriptioni;
+      }
+      *(outbuffer + offset++) = processing_time_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < processing_time_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->processing_time[i]);
+      }
+      offset += this->error_code.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->trajectory_start.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;
+      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));
+      }
+      uint8_t description_lengthT = *(inbuffer + offset++);
+      if(description_lengthT > description_length)
+        this->description = (char**)realloc(this->description, description_lengthT * sizeof(char*));
+      offset += 3;
+      description_length = description_lengthT;
+      for( uint8_t i = 0; i < description_length; i++){
+      uint32_t length_st_description;
+      memcpy(&length_st_description, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_description; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_description-1]=0;
+      this->st_description = (char *)(inbuffer + offset-1);
+      offset += length_st_description;
+        memcpy( &(this->description[i]), &(this->st_description), sizeof(char*));
+      }
+      uint8_t processing_time_lengthT = *(inbuffer + offset++);
+      if(processing_time_lengthT > processing_time_length)
+        this->processing_time = (float*)realloc(this->processing_time, processing_time_lengthT * sizeof(float));
+      offset += 3;
+      processing_time_length = processing_time_lengthT;
+      for( uint8_t i = 0; i < processing_time_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_processing_time));
+        memcpy( &(this->processing_time[i]), &(this->st_processing_time), sizeof(float));
+      }
+      offset += this->error_code.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/MotionPlanDetailedResponse"; };
+    const char * getMD5(){ return "7b84c374bb2e37bdc0eba664f7636a8f"; };
+
+  };
+
+}
+#endif