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/GetPositionFK.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_SERVICE_GetPositionFK_h #define _ROS_SERVICE_GetPositionFK_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "moveit_msgs/MoveItErrorCodes.h" #include "geometry_msgs/PoseStamped.h" #include "std_msgs/Header.h" #include "moveit_msgs/RobotState.h" namespace moveit_msgs { static const char GETPOSITIONFK[] = "moveit_msgs/GetPositionFK"; class GetPositionFKRequest : public ros::Msg { public: std_msgs::Header header; uint8_t fk_link_names_length; char* st_fk_link_names; char* * fk_link_names; moveit_msgs::RobotState robot_state; GetPositionFKRequest(): header(), fk_link_names_length(0), fk_link_names(NULL), robot_state() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset++) = fk_link_names_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < fk_link_names_length; i++){ uint32_t length_fk_link_namesi = strlen(this->fk_link_names[i]); memcpy(outbuffer + offset, &length_fk_link_namesi, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->fk_link_names[i], length_fk_link_namesi); offset += length_fk_link_namesi; } offset += this->robot_state.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint8_t fk_link_names_lengthT = *(inbuffer + offset++); if(fk_link_names_lengthT > fk_link_names_length) this->fk_link_names = (char**)realloc(this->fk_link_names, fk_link_names_lengthT * sizeof(char*)); offset += 3; fk_link_names_length = fk_link_names_lengthT; for( uint8_t i = 0; i < fk_link_names_length; i++){ uint32_t length_st_fk_link_names; memcpy(&length_st_fk_link_names, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_st_fk_link_names; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_fk_link_names-1]=0; this->st_fk_link_names = (char *)(inbuffer + offset-1); offset += length_st_fk_link_names; memcpy( &(this->fk_link_names[i]), &(this->st_fk_link_names), sizeof(char*)); } offset += this->robot_state.deserialize(inbuffer + offset); return offset; } const char * getType(){ return GETPOSITIONFK; }; const char * getMD5(){ return "1d1ed72044ed56f6246c31b522781797"; }; }; class GetPositionFKResponse : public ros::Msg { public: uint8_t pose_stamped_length; geometry_msgs::PoseStamped st_pose_stamped; geometry_msgs::PoseStamped * pose_stamped; uint8_t fk_link_names_length; char* st_fk_link_names; char* * fk_link_names; moveit_msgs::MoveItErrorCodes error_code; GetPositionFKResponse(): pose_stamped_length(0), pose_stamped(NULL), fk_link_names_length(0), fk_link_names(NULL), error_code() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset++) = pose_stamped_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < pose_stamped_length; i++){ offset += this->pose_stamped[i].serialize(outbuffer + offset); } *(outbuffer + offset++) = fk_link_names_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < fk_link_names_length; i++){ uint32_t length_fk_link_namesi = strlen(this->fk_link_names[i]); memcpy(outbuffer + offset, &length_fk_link_namesi, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->fk_link_names[i], length_fk_link_namesi); offset += length_fk_link_namesi; } offset += this->error_code.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint8_t pose_stamped_lengthT = *(inbuffer + offset++); if(pose_stamped_lengthT > pose_stamped_length) this->pose_stamped = (geometry_msgs::PoseStamped*)realloc(this->pose_stamped, pose_stamped_lengthT * sizeof(geometry_msgs::PoseStamped)); offset += 3; pose_stamped_length = pose_stamped_lengthT; for( uint8_t i = 0; i < pose_stamped_length; i++){ offset += this->st_pose_stamped.deserialize(inbuffer + offset); memcpy( &(this->pose_stamped[i]), &(this->st_pose_stamped), sizeof(geometry_msgs::PoseStamped)); } uint8_t fk_link_names_lengthT = *(inbuffer + offset++); if(fk_link_names_lengthT > fk_link_names_length) this->fk_link_names = (char**)realloc(this->fk_link_names, fk_link_names_lengthT * sizeof(char*)); offset += 3; fk_link_names_length = fk_link_names_lengthT; for( uint8_t i = 0; i < fk_link_names_length; i++){ uint32_t length_st_fk_link_names; memcpy(&length_st_fk_link_names, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_st_fk_link_names; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_st_fk_link_names-1]=0; this->st_fk_link_names = (char *)(inbuffer + offset-1); offset += length_st_fk_link_names; memcpy( &(this->fk_link_names[i]), &(this->st_fk_link_names), sizeof(char*)); } offset += this->error_code.deserialize(inbuffer + offset); return offset; } const char * getType(){ return GETPOSITIONFK; }; const char * getMD5(){ return "297215cf4fdfe0008356995ae621dae6"; }; }; class GetPositionFK { public: typedef GetPositionFKRequest Request; typedef GetPositionFKResponse Response; }; } #endif