Diff: moveit_msgs/PositionIKRequest.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/PositionIKRequest.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,200 @@
+#ifndef _ROS_moveit_msgs_PositionIKRequest_h
+#define _ROS_moveit_msgs_PositionIKRequest_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/RobotState.h"
+#include "moveit_msgs/Constraints.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "ros/duration.h"
+
+namespace moveit_msgs
+{
+
+  class PositionIKRequest : public ros::Msg
+  {
+    public:
+      const char* group_name;
+      moveit_msgs::RobotState robot_state;
+      moveit_msgs::Constraints constraints;
+      bool avoid_collisions;
+      const char* ik_link_name;
+      geometry_msgs::PoseStamped pose_stamped;
+      uint8_t ik_link_names_length;
+      char* st_ik_link_names;
+      char* * ik_link_names;
+      uint8_t pose_stamped_vector_length;
+      geometry_msgs::PoseStamped st_pose_stamped_vector;
+      geometry_msgs::PoseStamped * pose_stamped_vector;
+      ros::Duration timeout;
+      int32_t attempts;
+
+    PositionIKRequest():
+      group_name(""),
+      robot_state(),
+      constraints(),
+      avoid_collisions(0),
+      ik_link_name(""),
+      pose_stamped(),
+      ik_link_names_length(0), ik_link_names(NULL),
+      pose_stamped_vector_length(0), pose_stamped_vector(NULL),
+      timeout(),
+      attempts(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      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->robot_state.serialize(outbuffer + offset);
+      offset += this->constraints.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_avoid_collisions;
+      u_avoid_collisions.real = this->avoid_collisions;
+      *(outbuffer + offset + 0) = (u_avoid_collisions.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->avoid_collisions);
+      uint32_t length_ik_link_name = strlen(this->ik_link_name);
+      memcpy(outbuffer + offset, &length_ik_link_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->ik_link_name, length_ik_link_name);
+      offset += length_ik_link_name;
+      offset += this->pose_stamped.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = ik_link_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < ik_link_names_length; i++){
+      uint32_t length_ik_link_namesi = strlen(this->ik_link_names[i]);
+      memcpy(outbuffer + offset, &length_ik_link_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->ik_link_names[i], length_ik_link_namesi);
+      offset += length_ik_link_namesi;
+      }
+      *(outbuffer + offset++) = pose_stamped_vector_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < pose_stamped_vector_length; i++){
+      offset += this->pose_stamped_vector[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.sec);
+      *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_attempts;
+      u_attempts.real = this->attempts;
+      *(outbuffer + offset + 0) = (u_attempts.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_attempts.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_attempts.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_attempts.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->attempts);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      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->robot_state.deserialize(inbuffer + offset);
+      offset += this->constraints.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_avoid_collisions;
+      u_avoid_collisions.base = 0;
+      u_avoid_collisions.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->avoid_collisions = u_avoid_collisions.real;
+      offset += sizeof(this->avoid_collisions);
+      uint32_t length_ik_link_name;
+      memcpy(&length_ik_link_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_ik_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_ik_link_name-1]=0;
+      this->ik_link_name = (char *)(inbuffer + offset-1);
+      offset += length_ik_link_name;
+      offset += this->pose_stamped.deserialize(inbuffer + offset);
+      uint8_t ik_link_names_lengthT = *(inbuffer + offset++);
+      if(ik_link_names_lengthT > ik_link_names_length)
+        this->ik_link_names = (char**)realloc(this->ik_link_names, ik_link_names_lengthT * sizeof(char*));
+      offset += 3;
+      ik_link_names_length = ik_link_names_lengthT;
+      for( uint8_t i = 0; i < ik_link_names_length; i++){
+      uint32_t length_st_ik_link_names;
+      memcpy(&length_st_ik_link_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_ik_link_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_ik_link_names-1]=0;
+      this->st_ik_link_names = (char *)(inbuffer + offset-1);
+      offset += length_st_ik_link_names;
+        memcpy( &(this->ik_link_names[i]), &(this->st_ik_link_names), sizeof(char*));
+      }
+      uint8_t pose_stamped_vector_lengthT = *(inbuffer + offset++);
+      if(pose_stamped_vector_lengthT > pose_stamped_vector_length)
+        this->pose_stamped_vector = (geometry_msgs::PoseStamped*)realloc(this->pose_stamped_vector, pose_stamped_vector_lengthT * sizeof(geometry_msgs::PoseStamped));
+      offset += 3;
+      pose_stamped_vector_length = pose_stamped_vector_lengthT;
+      for( uint8_t i = 0; i < pose_stamped_vector_length; i++){
+      offset += this->st_pose_stamped_vector.deserialize(inbuffer + offset);
+        memcpy( &(this->pose_stamped_vector[i]), &(this->st_pose_stamped_vector), sizeof(geometry_msgs::PoseStamped));
+      }
+      this->timeout.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.sec);
+      this->timeout.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_attempts;
+      u_attempts.base = 0;
+      u_attempts.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_attempts.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_attempts.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_attempts.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->attempts = u_attempts.real;
+      offset += sizeof(this->attempts);
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/PositionIKRequest"; };
+    const char * getMD5(){ return "9936dc239c90af180ec94a51596c96f2"; };
+
+  };
+
+}
+#endif