Diff: moveit_msgs/MotionPlanRequest.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/MotionPlanRequest.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,137 @@
+#ifndef _ROS_moveit_msgs_MotionPlanRequest_h
+#define _ROS_moveit_msgs_MotionPlanRequest_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/WorkspaceParameters.h"
+#include "moveit_msgs/RobotState.h"
+#include "moveit_msgs/Constraints.h"
+#include "moveit_msgs/TrajectoryConstraints.h"
+
+namespace moveit_msgs
+{
+
+  class MotionPlanRequest : public ros::Msg
+  {
+    public:
+      moveit_msgs::WorkspaceParameters workspace_parameters;
+      moveit_msgs::RobotState start_state;
+      uint8_t goal_constraints_length;
+      moveit_msgs::Constraints st_goal_constraints;
+      moveit_msgs::Constraints * goal_constraints;
+      moveit_msgs::Constraints path_constraints;
+      moveit_msgs::TrajectoryConstraints trajectory_constraints;
+      const char* planner_id;
+      const char* group_name;
+      int32_t num_planning_attempts;
+      float allowed_planning_time;
+
+    MotionPlanRequest():
+      workspace_parameters(),
+      start_state(),
+      goal_constraints_length(0), goal_constraints(NULL),
+      path_constraints(),
+      trajectory_constraints(),
+      planner_id(""),
+      group_name(""),
+      num_planning_attempts(0),
+      allowed_planning_time(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->workspace_parameters.serialize(outbuffer + offset);
+      offset += this->start_state.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = goal_constraints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < goal_constraints_length; i++){
+      offset += this->goal_constraints[i].serialize(outbuffer + offset);
+      }
+      offset += this->path_constraints.serialize(outbuffer + offset);
+      offset += this->trajectory_constraints.serialize(outbuffer + offset);
+      uint32_t length_planner_id = strlen(this->planner_id);
+      memcpy(outbuffer + offset, &length_planner_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->planner_id, length_planner_id);
+      offset += length_planner_id;
+      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;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_num_planning_attempts;
+      u_num_planning_attempts.real = this->num_planning_attempts;
+      *(outbuffer + offset + 0) = (u_num_planning_attempts.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_num_planning_attempts.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_num_planning_attempts.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_num_planning_attempts.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->num_planning_attempts);
+      offset += serializeAvrFloat64(outbuffer + offset, this->allowed_planning_time);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->workspace_parameters.deserialize(inbuffer + offset);
+      offset += this->start_state.deserialize(inbuffer + offset);
+      uint8_t goal_constraints_lengthT = *(inbuffer + offset++);
+      if(goal_constraints_lengthT > goal_constraints_length)
+        this->goal_constraints = (moveit_msgs::Constraints*)realloc(this->goal_constraints, goal_constraints_lengthT * sizeof(moveit_msgs::Constraints));
+      offset += 3;
+      goal_constraints_length = goal_constraints_lengthT;
+      for( uint8_t i = 0; i < goal_constraints_length; i++){
+      offset += this->st_goal_constraints.deserialize(inbuffer + offset);
+        memcpy( &(this->goal_constraints[i]), &(this->st_goal_constraints), sizeof(moveit_msgs::Constraints));
+      }
+      offset += this->path_constraints.deserialize(inbuffer + offset);
+      offset += this->trajectory_constraints.deserialize(inbuffer + offset);
+      uint32_t length_planner_id;
+      memcpy(&length_planner_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_planner_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_planner_id-1]=0;
+      this->planner_id = (char *)(inbuffer + offset-1);
+      offset += length_planner_id;
+      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;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_num_planning_attempts;
+      u_num_planning_attempts.base = 0;
+      u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->num_planning_attempts = u_num_planning_attempts.real;
+      offset += sizeof(this->num_planning_attempts);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->allowed_planning_time));
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/MotionPlanRequest"; };
+    const char * getMD5(){ return "7cd790e04c3a55f6742ec387a72a02d6"; };
+
+  };
+
+}
+#endif