Irfan Tito Kurniawan / ros_lib

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

ros_lib/mav_planning_msgs/PlannerService.h@0:8f3710bfd298, 2020-09-02 (annotated)

Committer:
irfantitok
Date:
Wed Sep 02 13:51:31 2020 +0000
Revision:
0:8f3710bfd298
Resolved round not found

Who changed what in which revision?

UserRevisionLine numberNew contents of line
irfantitok 0:8f3710bfd298 1 #ifndef _ROS_SERVICE_PlannerService_h
irfantitok 0:8f3710bfd298 2 #define _ROS_SERVICE_PlannerService_h
irfantitok 0:8f3710bfd298 3 #include <stdint.h>
irfantitok 0:8f3710bfd298 4 #include <string.h>
irfantitok 0:8f3710bfd298 5 #include <stdlib.h>
irfantitok 0:8f3710bfd298 6 #include "ros/msg.h"
irfantitok 0:8f3710bfd298 7 #include "geometry_msgs/PoseStamped.h"
irfantitok 0:8f3710bfd298 8 #include "trajectory_msgs/MultiDOFJointTrajectory.h"
irfantitok 0:8f3710bfd298 9 #include "geometry_msgs/Vector3.h"
irfantitok 0:8f3710bfd298 10 #include "mav_planning_msgs/PolynomialTrajectory4D.h"
irfantitok 0:8f3710bfd298 11
irfantitok 0:8f3710bfd298 12 namespace mav_planning_msgs
irfantitok 0:8f3710bfd298 13 {
irfantitok 0:8f3710bfd298 14
irfantitok 0:8f3710bfd298 15 static const char PLANNERSERVICE[] = "mav_planning_msgs/PlannerService";
irfantitok 0:8f3710bfd298 16
irfantitok 0:8f3710bfd298 17 class PlannerServiceRequest : public ros::Msg
irfantitok 0:8f3710bfd298 18 {
irfantitok 0:8f3710bfd298 19 public:
irfantitok 0:8f3710bfd298 20 typedef geometry_msgs::PoseStamped _start_pose_type;
irfantitok 0:8f3710bfd298 21 _start_pose_type start_pose;
irfantitok 0:8f3710bfd298 22 typedef geometry_msgs::Vector3 _start_velocity_type;
irfantitok 0:8f3710bfd298 23 _start_velocity_type start_velocity;
irfantitok 0:8f3710bfd298 24 typedef geometry_msgs::PoseStamped _goal_pose_type;
irfantitok 0:8f3710bfd298 25 _goal_pose_type goal_pose;
irfantitok 0:8f3710bfd298 26 typedef geometry_msgs::Vector3 _goal_velocity_type;
irfantitok 0:8f3710bfd298 27 _goal_velocity_type goal_velocity;
irfantitok 0:8f3710bfd298 28 typedef geometry_msgs::Vector3 _bounding_box_type;
irfantitok 0:8f3710bfd298 29 _bounding_box_type bounding_box;
irfantitok 0:8f3710bfd298 30
irfantitok 0:8f3710bfd298 31 PlannerServiceRequest():
irfantitok 0:8f3710bfd298 32 start_pose(),
irfantitok 0:8f3710bfd298 33 start_velocity(),
irfantitok 0:8f3710bfd298 34 goal_pose(),
irfantitok 0:8f3710bfd298 35 goal_velocity(),
irfantitok 0:8f3710bfd298 36 bounding_box()
irfantitok 0:8f3710bfd298 37 {
irfantitok 0:8f3710bfd298 38 }
irfantitok 0:8f3710bfd298 39
irfantitok 0:8f3710bfd298 40 virtual int serialize(unsigned char *outbuffer) const
irfantitok 0:8f3710bfd298 41 {
irfantitok 0:8f3710bfd298 42 int offset = 0;
irfantitok 0:8f3710bfd298 43 offset += this->start_pose.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 44 offset += this->start_velocity.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 45 offset += this->goal_pose.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 46 offset += this->goal_velocity.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 47 offset += this->bounding_box.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 48 return offset;
irfantitok 0:8f3710bfd298 49 }
irfantitok 0:8f3710bfd298 50
irfantitok 0:8f3710bfd298 51 virtual int deserialize(unsigned char *inbuffer)
irfantitok 0:8f3710bfd298 52 {
irfantitok 0:8f3710bfd298 53 int offset = 0;
irfantitok 0:8f3710bfd298 54 offset += this->start_pose.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 55 offset += this->start_velocity.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 56 offset += this->goal_pose.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 57 offset += this->goal_velocity.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 58 offset += this->bounding_box.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 59 return offset;
irfantitok 0:8f3710bfd298 60 }
irfantitok 0:8f3710bfd298 61
irfantitok 0:8f3710bfd298 62 const char * getType(){ return PLANNERSERVICE; };
irfantitok 0:8f3710bfd298 63 const char * getMD5(){ return "6090fe8ab3df1362b8c26859b8850940"; };
irfantitok 0:8f3710bfd298 64
irfantitok 0:8f3710bfd298 65 };
irfantitok 0:8f3710bfd298 66
irfantitok 0:8f3710bfd298 67 class PlannerServiceResponse : public ros::Msg
irfantitok 0:8f3710bfd298 68 {
irfantitok 0:8f3710bfd298 69 public:
irfantitok 0:8f3710bfd298 70 typedef bool _success_type;
irfantitok 0:8f3710bfd298 71 _success_type success;
irfantitok 0:8f3710bfd298 72 typedef mav_planning_msgs::PolynomialTrajectory4D _polynomial_plan_type;
irfantitok 0:8f3710bfd298 73 _polynomial_plan_type polynomial_plan;
irfantitok 0:8f3710bfd298 74 typedef trajectory_msgs::MultiDOFJointTrajectory _sampled_plan_type;
irfantitok 0:8f3710bfd298 75 _sampled_plan_type sampled_plan;
irfantitok 0:8f3710bfd298 76
irfantitok 0:8f3710bfd298 77 PlannerServiceResponse():
irfantitok 0:8f3710bfd298 78 success(0),
irfantitok 0:8f3710bfd298 79 polynomial_plan(),
irfantitok 0:8f3710bfd298 80 sampled_plan()
irfantitok 0:8f3710bfd298 81 {
irfantitok 0:8f3710bfd298 82 }
irfantitok 0:8f3710bfd298 83
irfantitok 0:8f3710bfd298 84 virtual int serialize(unsigned char *outbuffer) const
irfantitok 0:8f3710bfd298 85 {
irfantitok 0:8f3710bfd298 86 int offset = 0;
irfantitok 0:8f3710bfd298 87 union {
irfantitok 0:8f3710bfd298 88 bool real;
irfantitok 0:8f3710bfd298 89 uint8_t base;
irfantitok 0:8f3710bfd298 90 } u_success;
irfantitok 0:8f3710bfd298 91 u_success.real = this->success;
irfantitok 0:8f3710bfd298 92 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 93 offset += sizeof(this->success);
irfantitok 0:8f3710bfd298 94 offset += this->polynomial_plan.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 95 offset += this->sampled_plan.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 96 return offset;
irfantitok 0:8f3710bfd298 97 }
irfantitok 0:8f3710bfd298 98
irfantitok 0:8f3710bfd298 99 virtual int deserialize(unsigned char *inbuffer)
irfantitok 0:8f3710bfd298 100 {
irfantitok 0:8f3710bfd298 101 int offset = 0;
irfantitok 0:8f3710bfd298 102 union {
irfantitok 0:8f3710bfd298 103 bool real;
irfantitok 0:8f3710bfd298 104 uint8_t base;
irfantitok 0:8f3710bfd298 105 } u_success;
irfantitok 0:8f3710bfd298 106 u_success.base = 0;
irfantitok 0:8f3710bfd298 107 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 108 this->success = u_success.real;
irfantitok 0:8f3710bfd298 109 offset += sizeof(this->success);
irfantitok 0:8f3710bfd298 110 offset += this->polynomial_plan.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 111 offset += this->sampled_plan.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 112 return offset;
irfantitok 0:8f3710bfd298 113 }
irfantitok 0:8f3710bfd298 114
irfantitok 0:8f3710bfd298 115 const char * getType(){ return PLANNERSERVICE; };
irfantitok 0:8f3710bfd298 116 const char * getMD5(){ return "2b0f390ba4c264f0182acc6839f4d8b4"; };
irfantitok 0:8f3710bfd298 117
irfantitok 0:8f3710bfd298 118 };
irfantitok 0:8f3710bfd298 119
irfantitok 0:8f3710bfd298 120 class PlannerService {
irfantitok 0:8f3710bfd298 121 public:
irfantitok 0:8f3710bfd298 122 typedef PlannerServiceRequest Request;
irfantitok 0:8f3710bfd298 123 typedef PlannerServiceResponse Response;
irfantitok 0:8f3710bfd298 124 };
irfantitok 0:8f3710bfd298 125
irfantitok 0:8f3710bfd298 126 }
irfantitok 0:8f3710bfd298 127 #endif