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     virtual int serialize(unsigned char *outbuffer) const
00023     {
00024       int offset = 0;
00025       offset += this->start.serialize(outbuffer + offset);
00026       offset += this->goal.serialize(outbuffer + offset);
00027       union {
00028         float real;
00029         uint32_t base;
00030       } u_tolerance;
00031       u_tolerance.real = this->tolerance;
00032       *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF;
00033       *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF;
00034       *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF;
00035       *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF;
00036       offset += sizeof(this->tolerance);
00037       return offset;
00038     }
00039 
00040     virtual int deserialize(unsigned char *inbuffer)
00041     {
00042       int offset = 0;
00043       offset += this->start.deserialize(inbuffer + offset);
00044       offset += this->goal.deserialize(inbuffer + offset);
00045       union {
00046         float real;
00047         uint32_t base;
00048       } u_tolerance;
00049       u_tolerance.base = 0;
00050       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00051       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00052       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00053       u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00054       this->tolerance = u_tolerance.real;
00055       offset += sizeof(this->tolerance);
00056      return offset;
00057     }
00058 
00059     const char * getType(){ return GETPLAN; };
00060     const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
00061 
00062   };
00063 
00064   class GetPlanResponse : public ros::Msg
00065   {
00066     public:
00067       nav_msgs::Path plan;
00068 
00069     virtual int serialize(unsigned char *outbuffer) const
00070     {
00071       int offset = 0;
00072       offset += this->plan.serialize(outbuffer + offset);
00073       return offset;
00074     }
00075 
00076     virtual int deserialize(unsigned char *inbuffer)
00077     {
00078       int offset = 0;
00079       offset += this->plan.deserialize(inbuffer + offset);
00080      return offset;
00081     }
00082 
00083     const char * getType(){ return GETPLAN; };
00084     const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
00085 
00086   };
00087 
00088   class GetPlan {
00089     public:
00090     typedef GetPlanRequest Request;
00091     typedef GetPlanResponse Response;
00092   };
00093 
00094 }
00095 #endif