Diff: moveit_msgs/OrientationConstraint.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b moveit_msgs/OrientationConstraint.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/moveit_msgs/OrientationConstraint.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,80 @@
+#ifndef _ROS_moveit_msgs_OrientationConstraint_h
+#define _ROS_moveit_msgs_OrientationConstraint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace moveit_msgs
+{
+
+  class OrientationConstraint : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Quaternion orientation;
+      const char* link_name;
+      float absolute_x_axis_tolerance;
+      float absolute_y_axis_tolerance;
+      float absolute_z_axis_tolerance;
+      float weight;
+
+    OrientationConstraint():
+      header(),
+      orientation(),
+      link_name(""),
+      absolute_x_axis_tolerance(0),
+      absolute_y_axis_tolerance(0),
+      absolute_z_axis_tolerance(0),
+      weight(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->orientation.serialize(outbuffer + offset);
+      uint32_t length_link_name = strlen(this->link_name);
+      memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      offset += serializeAvrFloat64(outbuffer + offset, this->absolute_x_axis_tolerance);
+      offset += serializeAvrFloat64(outbuffer + offset, this->absolute_y_axis_tolerance);
+      offset += serializeAvrFloat64(outbuffer + offset, this->absolute_z_axis_tolerance);
+      offset += serializeAvrFloat64(outbuffer + offset, this->weight);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->orientation.deserialize(inbuffer + offset);
+      uint32_t length_link_name;
+      memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->absolute_x_axis_tolerance));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->absolute_y_axis_tolerance));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->absolute_z_axis_tolerance));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->weight));
+     return offset;
+    }
+
+    const char * getType(){ return "moveit_msgs/OrientationConstraint"; };
+    const char * getMD5(){ return "ab5cefb9bc4c0089620f5eb4caf4e59a"; };
+
+  };
+
+}
+#endif