Diff: moveit_msgs/GetPositionFK.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b moveit_msgs/GetPositionFK.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/GetPositionFK.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,171 @@
+#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
+