Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

moveit_msgs/PlanningSceneWorld.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_moveit_msgs_PlanningSceneWorld_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_PlanningSceneWorld_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "moveit_msgs/CollisionObject.h"
akashvibhute 0:30537dec6e0b 9 #include "octomap_msgs/OctomapWithPose.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class PlanningSceneWorld : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 uint8_t collision_objects_length;
akashvibhute 0:30537dec6e0b 18 moveit_msgs::CollisionObject st_collision_objects;
akashvibhute 0:30537dec6e0b 19 moveit_msgs::CollisionObject * collision_objects;
akashvibhute 0:30537dec6e0b 20 octomap_msgs::OctomapWithPose octomap;
akashvibhute 0:30537dec6e0b 21
akashvibhute 0:30537dec6e0b 22 PlanningSceneWorld():
akashvibhute 0:30537dec6e0b 23 collision_objects_length(0), collision_objects(NULL),
akashvibhute 0:30537dec6e0b 24 octomap()
akashvibhute 0:30537dec6e0b 25 {
akashvibhute 0:30537dec6e0b 26 }
akashvibhute 0:30537dec6e0b 27
akashvibhute 0:30537dec6e0b 28 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 29 {
akashvibhute 0:30537dec6e0b 30 int offset = 0;
akashvibhute 0:30537dec6e0b 31 *(outbuffer + offset++) = collision_objects_length;
akashvibhute 0:30537dec6e0b 32 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 35 for( uint8_t i = 0; i < collision_objects_length; i++){
akashvibhute 0:30537dec6e0b 36 offset += this->collision_objects[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 }
akashvibhute 0:30537dec6e0b 38 offset += this->octomap.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 39 return offset;
akashvibhute 0:30537dec6e0b 40 }
akashvibhute 0:30537dec6e0b 41
akashvibhute 0:30537dec6e0b 42 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 43 {
akashvibhute 0:30537dec6e0b 44 int offset = 0;
akashvibhute 0:30537dec6e0b 45 uint8_t collision_objects_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 46 if(collision_objects_lengthT > collision_objects_length)
akashvibhute 0:30537dec6e0b 47 this->collision_objects = (moveit_msgs::CollisionObject*)realloc(this->collision_objects, collision_objects_lengthT * sizeof(moveit_msgs::CollisionObject));
akashvibhute 0:30537dec6e0b 48 offset += 3;
akashvibhute 0:30537dec6e0b 49 collision_objects_length = collision_objects_lengthT;
akashvibhute 0:30537dec6e0b 50 for( uint8_t i = 0; i < collision_objects_length; i++){
akashvibhute 0:30537dec6e0b 51 offset += this->st_collision_objects.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 52 memcpy( &(this->collision_objects[i]), &(this->st_collision_objects), sizeof(moveit_msgs::CollisionObject));
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54 offset += this->octomap.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 55 return offset;
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 const char * getType(){ return "moveit_msgs/PlanningSceneWorld"; };
akashvibhute 0:30537dec6e0b 59 const char * getMD5(){ return "373d88390d1db385335639f687723ee6"; };
akashvibhute 0:30537dec6e0b 60
akashvibhute 0:30537dec6e0b 61 };
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64 #endif