Diff: moveit_msgs/PlanningSceneWorld.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/PlanningSceneWorld.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_moveit_msgs_PlanningSceneWorld_h
+#define _ROS_moveit_msgs_PlanningSceneWorld_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/CollisionObject.h"
+#include "octomap_msgs/OctomapWithPose.h"
+
+namespace moveit_msgs
+{
+
+  class PlanningSceneWorld : public ros::Msg
+  {
+    public:
+      uint8_t collision_objects_length;
+      moveit_msgs::CollisionObject st_collision_objects;
+      moveit_msgs::CollisionObject * collision_objects;
+      octomap_msgs::OctomapWithPose octomap;
+
+    PlanningSceneWorld():
+      collision_objects_length(0), collision_objects(NULL),
+      octomap()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = collision_objects_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < collision_objects_length; i++){
+      offset += this->collision_objects[i].serialize(outbuffer + offset);
+      }
+      offset += this->octomap.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t collision_objects_lengthT = *(inbuffer + offset++);
+      if(collision_objects_lengthT > collision_objects_length)
+        this->collision_objects = (moveit_msgs::CollisionObject*)realloc(this->collision_objects, collision_objects_lengthT * sizeof(moveit_msgs::CollisionObject));
+      offset += 3;
+      collision_objects_length = collision_objects_lengthT;
+      for( uint8_t i = 0; i < collision_objects_length; i++){
+      offset += this->st_collision_objects.deserialize(inbuffer + offset);
+        memcpy( &(this->collision_objects[i]), &(this->st_collision_objects), sizeof(moveit_msgs::CollisionObject));
+      }
+      offset += this->octomap.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/PlanningSceneWorld"; };
+    const char * getMD5(){ return "373d88390d1db385335639f687723ee6"; };
+
+  };
+
+}
+#endif