rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
moveit_msgs/CollisionObject.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_moveit_msgs_CollisionObject_h #define _ROS_moveit_msgs_CollisionObject_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "object_recognition_msgs/ObjectType.h" #include "shape_msgs/SolidPrimitive.h" #include "geometry_msgs/Pose.h" #include "shape_msgs/Mesh.h" #include "shape_msgs/Plane.h" namespace moveit_msgs { class CollisionObject : public ros::Msg { public: std_msgs::Header header; const char* id; object_recognition_msgs::ObjectType type; uint8_t primitives_length; shape_msgs::SolidPrimitive st_primitives; shape_msgs::SolidPrimitive * primitives; uint8_t primitive_poses_length; geometry_msgs::Pose st_primitive_poses; geometry_msgs::Pose * primitive_poses; uint8_t meshes_length; shape_msgs::Mesh st_meshes; shape_msgs::Mesh * meshes; uint8_t mesh_poses_length; geometry_msgs::Pose st_mesh_poses; geometry_msgs::Pose * mesh_poses; uint8_t planes_length; shape_msgs::Plane st_planes; shape_msgs::Plane * planes; uint8_t plane_poses_length; geometry_msgs::Pose st_plane_poses; geometry_msgs::Pose * plane_poses; int8_t operation; enum { ADD = 0 }; enum { REMOVE = 1 }; enum { APPEND = 2 }; enum { MOVE = 3 }; CollisionObject(): header(), id(""), type(), primitives_length(0), primitives(NULL), primitive_poses_length(0), primitive_poses(NULL), meshes_length(0), meshes(NULL), mesh_poses_length(0), mesh_poses(NULL), planes_length(0), planes(NULL), plane_poses_length(0), plane_poses(NULL), operation(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); uint32_t length_id = strlen(this->id); memcpy(outbuffer + offset, &length_id, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->id, length_id); offset += length_id; offset += this->type.serialize(outbuffer + offset); *(outbuffer + offset++) = primitives_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < primitives_length; i++){ offset += this->primitives[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = primitive_poses_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < primitive_poses_length; i++){ offset += this->primitive_poses[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = meshes_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < meshes_length; i++){ offset += this->meshes[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = mesh_poses_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < mesh_poses_length; i++){ offset += this->mesh_poses[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = planes_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < planes_length; i++){ offset += this->planes[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = plane_poses_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < plane_poses_length; i++){ offset += this->plane_poses[i].serialize(outbuffer + offset); } union { int8_t real; uint8_t base; } u_operation; u_operation.real = this->operation; *(outbuffer + offset + 0) = (u_operation.base >> (8 * 0)) & 0xFF; offset += sizeof(this->operation); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t length_id; memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_id; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_id-1]=0; this->id = (char *)(inbuffer + offset-1); offset += length_id; offset += this->type.deserialize(inbuffer + offset); uint8_t primitives_lengthT = *(inbuffer + offset++); if(primitives_lengthT > primitives_length) this->primitives = (shape_msgs::SolidPrimitive*)realloc(this->primitives, primitives_lengthT * sizeof(shape_msgs::SolidPrimitive)); offset += 3; primitives_length = primitives_lengthT; for( uint8_t i = 0; i < primitives_length; i++){ offset += this->st_primitives.deserialize(inbuffer + offset); memcpy( &(this->primitives[i]), &(this->st_primitives), sizeof(shape_msgs::SolidPrimitive)); } uint8_t primitive_poses_lengthT = *(inbuffer + offset++); if(primitive_poses_lengthT > primitive_poses_length) this->primitive_poses = (geometry_msgs::Pose*)realloc(this->primitive_poses, primitive_poses_lengthT * sizeof(geometry_msgs::Pose)); offset += 3; primitive_poses_length = primitive_poses_lengthT; for( uint8_t i = 0; i < primitive_poses_length; i++){ offset += this->st_primitive_poses.deserialize(inbuffer + offset); memcpy( &(this->primitive_poses[i]), &(this->st_primitive_poses), sizeof(geometry_msgs::Pose)); } uint8_t meshes_lengthT = *(inbuffer + offset++); if(meshes_lengthT > meshes_length) this->meshes = (shape_msgs::Mesh*)realloc(this->meshes, meshes_lengthT * sizeof(shape_msgs::Mesh)); offset += 3; meshes_length = meshes_lengthT; for( uint8_t i = 0; i < meshes_length; i++){ offset += this->st_meshes.deserialize(inbuffer + offset); memcpy( &(this->meshes[i]), &(this->st_meshes), sizeof(shape_msgs::Mesh)); } uint8_t mesh_poses_lengthT = *(inbuffer + offset++); if(mesh_poses_lengthT > mesh_poses_length) this->mesh_poses = (geometry_msgs::Pose*)realloc(this->mesh_poses, mesh_poses_lengthT * sizeof(geometry_msgs::Pose)); offset += 3; mesh_poses_length = mesh_poses_lengthT; for( uint8_t i = 0; i < mesh_poses_length; i++){ offset += this->st_mesh_poses.deserialize(inbuffer + offset); memcpy( &(this->mesh_poses[i]), &(this->st_mesh_poses), sizeof(geometry_msgs::Pose)); } uint8_t planes_lengthT = *(inbuffer + offset++); if(planes_lengthT > planes_length) this->planes = (shape_msgs::Plane*)realloc(this->planes, planes_lengthT * sizeof(shape_msgs::Plane)); offset += 3; planes_length = planes_lengthT; for( uint8_t i = 0; i < planes_length; i++){ offset += this->st_planes.deserialize(inbuffer + offset); memcpy( &(this->planes[i]), &(this->st_planes), sizeof(shape_msgs::Plane)); } uint8_t plane_poses_lengthT = *(inbuffer + offset++); if(plane_poses_lengthT > plane_poses_length) this->plane_poses = (geometry_msgs::Pose*)realloc(this->plane_poses, plane_poses_lengthT * sizeof(geometry_msgs::Pose)); offset += 3; plane_poses_length = plane_poses_lengthT; for( uint8_t i = 0; i < plane_poses_length; i++){ offset += this->st_plane_poses.deserialize(inbuffer + offset); memcpy( &(this->plane_poses[i]), &(this->st_plane_poses), sizeof(geometry_msgs::Pose)); } union { int8_t real; uint8_t base; } u_operation; u_operation.base = 0; u_operation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->operation = u_operation.real; offset += sizeof(this->operation); return offset; } const char * getType(){ return "moveit_msgs/CollisionObject"; }; const char * getMD5(){ return "568a161b26dc46c54a5a07621ce82cf3"; }; }; } #endif