Diff: moveit_msgs/KinematicSolverInfo.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b moveit_msgs/KinematicSolverInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/KinematicSolverInfo.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,123 @@
+#ifndef _ROS_moveit_msgs_KinematicSolverInfo_h
+#define _ROS_moveit_msgs_KinematicSolverInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "moveit_msgs/JointLimits.h"
+
+namespace moveit_msgs
+{
+
+  class KinematicSolverInfo : public ros::Msg
+  {
+    public:
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      uint8_t limits_length;
+      moveit_msgs::JointLimits st_limits;
+      moveit_msgs::JointLimits * limits;
+      uint8_t link_names_length;
+      char* st_link_names;
+      char* * link_names;
+
+    KinematicSolverInfo():
+      joint_names_length(0), joint_names(NULL),
+      limits_length(0), limits(NULL),
+      link_names_length(0), link_names(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset++) = limits_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < limits_length; i++){
+      offset += this->limits[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = link_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < link_names_length; i++){
+      uint32_t length_link_namesi = strlen(this->link_names[i]);
+      memcpy(outbuffer + offset, &length_link_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_names[i], length_link_namesi);
+      offset += length_link_namesi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint8_t limits_lengthT = *(inbuffer + offset++);
+      if(limits_lengthT > limits_length)
+        this->limits = (moveit_msgs::JointLimits*)realloc(this->limits, limits_lengthT * sizeof(moveit_msgs::JointLimits));
+      offset += 3;
+      limits_length = limits_lengthT;
+      for( uint8_t i = 0; i < limits_length; i++){
+      offset += this->st_limits.deserialize(inbuffer + offset);
+        memcpy( &(this->limits[i]), &(this->st_limits), sizeof(moveit_msgs::JointLimits));
+      }
+      uint8_t link_names_lengthT = *(inbuffer + offset++);
+      if(link_names_lengthT > link_names_length)
+        this->link_names = (char**)realloc(this->link_names, link_names_lengthT * sizeof(char*));
+      offset += 3;
+      link_names_length = link_names_lengthT;
+      for( uint8_t i = 0; i < link_names_length; i++){
+      uint32_t length_st_link_names;
+      memcpy(&length_st_link_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_link_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_link_names-1]=0;
+      this->st_link_names = (char *)(inbuffer + offset-1);
+      offset += length_st_link_names;
+        memcpy( &(this->link_names[i]), &(this->st_link_names), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/KinematicSolverInfo"; };
+    const char * getMD5(){ return "cc048557c0f9795c392dd80f8bb00489"; };
+
+  };
+
+}
+#endif