Diff: moveit_msgs/Grasp.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b moveit_msgs/Grasp.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/Grasp.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,140 @@
+#ifndef _ROS_moveit_msgs_Grasp_h
+#define _ROS_moveit_msgs_Grasp_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "trajectory_msgs/JointTrajectory.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "moveit_msgs/GripperTranslation.h"
+
+namespace moveit_msgs
+{
+
+  class Grasp : public ros::Msg
+  {
+    public:
+      const char* id;
+      trajectory_msgs::JointTrajectory pre_grasp_posture;
+      trajectory_msgs::JointTrajectory grasp_posture;
+      geometry_msgs::PoseStamped grasp_pose;
+      float grasp_quality;
+      moveit_msgs::GripperTranslation pre_grasp_approach;
+      moveit_msgs::GripperTranslation post_grasp_retreat;
+      moveit_msgs::GripperTranslation post_place_retreat;
+      float max_contact_force;
+      uint8_t allowed_touch_objects_length;
+      char* st_allowed_touch_objects;
+      char* * allowed_touch_objects;
+
+    Grasp():
+      id(""),
+      pre_grasp_posture(),
+      grasp_posture(),
+      grasp_pose(),
+      grasp_quality(0),
+      pre_grasp_approach(),
+      post_grasp_retreat(),
+      post_place_retreat(),
+      max_contact_force(0),
+      allowed_touch_objects_length(0), allowed_touch_objects(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      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->pre_grasp_posture.serialize(outbuffer + offset);
+      offset += this->grasp_posture.serialize(outbuffer + offset);
+      offset += this->grasp_pose.serialize(outbuffer + offset);
+      offset += serializeAvrFloat64(outbuffer + offset, this->grasp_quality);
+      offset += this->pre_grasp_approach.serialize(outbuffer + offset);
+      offset += this->post_grasp_retreat.serialize(outbuffer + offset);
+      offset += this->post_place_retreat.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_contact_force;
+      u_max_contact_force.real = this->max_contact_force;
+      *(outbuffer + offset + 0) = (u_max_contact_force.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_contact_force.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_contact_force.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_contact_force.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->max_contact_force);
+      *(outbuffer + offset++) = allowed_touch_objects_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
+      uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]);
+      memcpy(outbuffer + offset, &length_allowed_touch_objectsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi);
+      offset += length_allowed_touch_objectsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      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->pre_grasp_posture.deserialize(inbuffer + offset);
+      offset += this->grasp_posture.deserialize(inbuffer + offset);
+      offset += this->grasp_pose.deserialize(inbuffer + offset);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->grasp_quality));
+      offset += this->pre_grasp_approach.deserialize(inbuffer + offset);
+      offset += this->post_grasp_retreat.deserialize(inbuffer + offset);
+      offset += this->post_place_retreat.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_contact_force;
+      u_max_contact_force.base = 0;
+      u_max_contact_force.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_contact_force.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_contact_force.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_contact_force.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->max_contact_force = u_max_contact_force.real;
+      offset += sizeof(this->max_contact_force);
+      uint8_t allowed_touch_objects_lengthT = *(inbuffer + offset++);
+      if(allowed_touch_objects_lengthT > allowed_touch_objects_length)
+        this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*));
+      offset += 3;
+      allowed_touch_objects_length = allowed_touch_objects_lengthT;
+      for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
+      uint32_t length_st_allowed_touch_objects;
+      memcpy(&length_st_allowed_touch_objects, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_allowed_touch_objects-1]=0;
+      this->st_allowed_touch_objects = (char *)(inbuffer + offset-1);
+      offset += length_st_allowed_touch_objects;
+        memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/Grasp"; };
+    const char * getMD5(){ return "e26c8fb64f589c33c5d5e54bd7b5e4cb"; };
+
+  };
+
+}
+#endif