Diff: moveit_msgs/JointConstraint.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b moveit_msgs/JointConstraint.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/JointConstraint.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_moveit_msgs_JointConstraint_h
+#define _ROS_moveit_msgs_JointConstraint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace moveit_msgs
+{
+
+  class JointConstraint : public ros::Msg
+  {
+    public:
+      const char* joint_name;
+      float position;
+      float tolerance_above;
+      float tolerance_below;
+      float weight;
+
+    JointConstraint():
+      joint_name(""),
+      position(0),
+      tolerance_above(0),
+      tolerance_below(0),
+      weight(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      offset += serializeAvrFloat64(outbuffer + offset, this->position);
+      offset += serializeAvrFloat64(outbuffer + offset, this->tolerance_above);
+      offset += serializeAvrFloat64(outbuffer + offset, this->tolerance_below);
+      offset += serializeAvrFloat64(outbuffer + offset, this->weight);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->position));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->tolerance_above));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->tolerance_below));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->weight));
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/JointConstraint"; };
+    const char * getMD5(){ return "c02a15146bec0ce13564807805b008f0"; };
+
+  };
+
+}
+#endif