Diff: moveit_msgs/PlanningScene.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/PlanningScene.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,186 @@
+#ifndef _ROS_moveit_msgs_PlanningScene_h
+#define _ROS_moveit_msgs_PlanningScene_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/RobotState.h"
+#include "geometry_msgs/TransformStamped.h"
+#include "moveit_msgs/AllowedCollisionMatrix.h"
+#include "moveit_msgs/LinkPadding.h"
+#include "moveit_msgs/LinkScale.h"
+#include "moveit_msgs/ObjectColor.h"
+#include "moveit_msgs/PlanningSceneWorld.h"
+
+namespace moveit_msgs
+{
+
+  class PlanningScene : public ros::Msg
+  {
+    public:
+      const char* name;
+      moveit_msgs::RobotState robot_state;
+      const char* robot_model_name;
+      uint8_t fixed_frame_transforms_length;
+      geometry_msgs::TransformStamped st_fixed_frame_transforms;
+      geometry_msgs::TransformStamped * fixed_frame_transforms;
+      moveit_msgs::AllowedCollisionMatrix allowed_collision_matrix;
+      uint8_t link_padding_length;
+      moveit_msgs::LinkPadding st_link_padding;
+      moveit_msgs::LinkPadding * link_padding;
+      uint8_t link_scale_length;
+      moveit_msgs::LinkScale st_link_scale;
+      moveit_msgs::LinkScale * link_scale;
+      uint8_t object_colors_length;
+      moveit_msgs::ObjectColor st_object_colors;
+      moveit_msgs::ObjectColor * object_colors;
+      moveit_msgs::PlanningSceneWorld world;
+      bool is_diff;
+
+    PlanningScene():
+      name(""),
+      robot_state(),
+      robot_model_name(""),
+      fixed_frame_transforms_length(0), fixed_frame_transforms(NULL),
+      allowed_collision_matrix(),
+      link_padding_length(0), link_padding(NULL),
+      link_scale_length(0), link_scale(NULL),
+      object_colors_length(0), object_colors(NULL),
+      world(),
+      is_diff(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      offset += this->robot_state.serialize(outbuffer + offset);
+      uint32_t length_robot_model_name = strlen(this->robot_model_name);
+      memcpy(outbuffer + offset, &length_robot_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->robot_model_name, length_robot_model_name);
+      offset += length_robot_model_name;
+      *(outbuffer + offset++) = fixed_frame_transforms_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < fixed_frame_transforms_length; i++){
+      offset += this->fixed_frame_transforms[i].serialize(outbuffer + offset);
+      }
+      offset += this->allowed_collision_matrix.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = link_padding_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < link_padding_length; i++){
+      offset += this->link_padding[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = link_scale_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < link_scale_length; i++){
+      offset += this->link_scale[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = object_colors_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < object_colors_length; i++){
+      offset += this->object_colors[i].serialize(outbuffer + offset);
+      }
+      offset += this->world.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_diff;
+      u_is_diff.real = this->is_diff;
+      *(outbuffer + offset + 0) = (u_is_diff.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_diff);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      offset += this->robot_state.deserialize(inbuffer + offset);
+      uint32_t length_robot_model_name;
+      memcpy(&length_robot_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_robot_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_robot_model_name-1]=0;
+      this->robot_model_name = (char *)(inbuffer + offset-1);
+      offset += length_robot_model_name;
+      uint8_t fixed_frame_transforms_lengthT = *(inbuffer + offset++);
+      if(fixed_frame_transforms_lengthT > fixed_frame_transforms_length)
+        this->fixed_frame_transforms = (geometry_msgs::TransformStamped*)realloc(this->fixed_frame_transforms, fixed_frame_transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
+      offset += 3;
+      fixed_frame_transforms_length = fixed_frame_transforms_lengthT;
+      for( uint8_t i = 0; i < fixed_frame_transforms_length; i++){
+      offset += this->st_fixed_frame_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->fixed_frame_transforms[i]), &(this->st_fixed_frame_transforms), sizeof(geometry_msgs::TransformStamped));
+      }
+      offset += this->allowed_collision_matrix.deserialize(inbuffer + offset);
+      uint8_t link_padding_lengthT = *(inbuffer + offset++);
+      if(link_padding_lengthT > link_padding_length)
+        this->link_padding = (moveit_msgs::LinkPadding*)realloc(this->link_padding, link_padding_lengthT * sizeof(moveit_msgs::LinkPadding));
+      offset += 3;
+      link_padding_length = link_padding_lengthT;
+      for( uint8_t i = 0; i < link_padding_length; i++){
+      offset += this->st_link_padding.deserialize(inbuffer + offset);
+        memcpy( &(this->link_padding[i]), &(this->st_link_padding), sizeof(moveit_msgs::LinkPadding));
+      }
+      uint8_t link_scale_lengthT = *(inbuffer + offset++);
+      if(link_scale_lengthT > link_scale_length)
+        this->link_scale = (moveit_msgs::LinkScale*)realloc(this->link_scale, link_scale_lengthT * sizeof(moveit_msgs::LinkScale));
+      offset += 3;
+      link_scale_length = link_scale_lengthT;
+      for( uint8_t i = 0; i < link_scale_length; i++){
+      offset += this->st_link_scale.deserialize(inbuffer + offset);
+        memcpy( &(this->link_scale[i]), &(this->st_link_scale), sizeof(moveit_msgs::LinkScale));
+      }
+      uint8_t object_colors_lengthT = *(inbuffer + offset++);
+      if(object_colors_lengthT > object_colors_length)
+        this->object_colors = (moveit_msgs::ObjectColor*)realloc(this->object_colors, object_colors_lengthT * sizeof(moveit_msgs::ObjectColor));
+      offset += 3;
+      object_colors_length = object_colors_lengthT;
+      for( uint8_t i = 0; i < object_colors_length; i++){
+      offset += this->st_object_colors.deserialize(inbuffer + offset);
+        memcpy( &(this->object_colors[i]), &(this->st_object_colors), sizeof(moveit_msgs::ObjectColor));
+      }
+      offset += this->world.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_diff;
+      u_is_diff.base = 0;
+      u_is_diff.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_diff = u_is_diff.real;
+      offset += sizeof(this->is_diff);
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/PlanningScene"; };
+    const char * getMD5(){ return "89aac6d20db967ba716cba5a86b1b9d5"; };
+
+  };
+
+}
+#endif