GetPlan.h

00001 #ifndef _ROS_SERVICE_GetPlan_h
00002 #define _ROS_SERVICE_GetPlan_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "geometry_msgs/PoseStamped.h"
00008 #include "nav_msgs/Path.h"
00009 
00010 namespace nav_msgs
00011 {
00012 
00013 static const char GETPLAN[] = "nav_msgs/GetPlan";
00014 
00015   class GetPlanRequest : public ros::Msg
00016   {
00017     public:
00018       geometry_msgs::PoseStamped start;
00019       geometry_msgs::PoseStamped goal;
00020       float tolerance;
00021 
00022     GetPlanRequest():
00023       start(),
00024       goal(),
00025       tolerance(0)
00026     {
00027     }
00028 
00029     virtual int serialize(unsigned char *outbuffer) const
00030     {
00031       int offset = 0;
00032       offset += this->start.serialize(outbuffer + offset);
00033       offset += this->goal.serialize(outbuffer + offset);
00034       union {
00035         float real;
00036         uint32_t base;
00037       } u_tolerance;
00038       u_tolerance.real = this->tolerance;
00039       *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF;
00043       offset += sizeof(this->tolerance);
00044       return offset;
00045     }
00046 
00047     virtual int deserialize(unsigned char *inbuffer)
00048     {
00049       int offset = 0;
00050       offset += this->start.deserialize(inbuffer + offset);
00051       offset += this->goal.deserialize(inbuffer + offset);
00052       union {
00053         float real;
00054         uint32_t base;
00055       } u_tolerance;
00056       u_tolerance.base = 0;
00057       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00058       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00059       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00060       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00061       this->tolerance = u_tolerance.real;
00062       offset += sizeof(this->tolerance);
00063      return offset;
00064     }
00065 
00066     const char * getType(){ return GETPLAN; };
00067     const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
00068 
00069   };
00070 
00071   class GetPlanResponse : public ros::Msg
00072   {
00073     public:
00074       nav_msgs::Path plan;
00075 
00076     GetPlanResponse():
00077       plan()
00078     {
00079     }
00080 
00081     virtual int serialize(unsigned char *outbuffer) const
00082     {
00083       int offset = 0;
00084       offset += this->plan.serialize(outbuffer + offset);
00085       return offset;
00086     }
00087 
00088     virtual int deserialize(unsigned char *inbuffer)
00089     {
00090       int offset = 0;
00091       offset += this->plan.deserialize(inbuffer + offset);
00092      return offset;
00093     }
00094 
00095     const char * getType(){ return GETPLAN; };
00096     const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
00097 
00098   };
00099 
00100   class GetPlan {
00101     public:
00102     typedef GetPlanRequest Request;
00103     typedef GetPlanResponse Response;
00104   };
00105 
00106 }
00107 #endif