Constraints.h
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00001 #ifndef _ROS_moveit_msgs_Constraints_h
00002 #define _ROS_moveit_msgs_Constraints_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/JointConstraint.h"
00009 #include "moveit_msgs/PositionConstraint.h"
00010 #include "moveit_msgs/OrientationConstraint.h"
00011 #include "moveit_msgs/VisibilityConstraint.h"
00012 
00013 namespace moveit_msgs
00014 {
00015 
00016   class Constraints : public ros::Msg
00017   {
00018     public:
00019       const char* name;
00020       uint8_t joint_constraints_length;
00021       moveit_msgs::JointConstraint st_joint_constraints;
00022       moveit_msgs::JointConstraint * joint_constraints;
00023       uint8_t position_constraints_length;
00024       moveit_msgs::PositionConstraint st_position_constraints;
00025       moveit_msgs::PositionConstraint * position_constraints;
00026       uint8_t orientation_constraints_length;
00027       moveit_msgs::OrientationConstraint st_orientation_constraints;
00028       moveit_msgs::OrientationConstraint * orientation_constraints;
00029       uint8_t visibility_constraints_length;
00030       moveit_msgs::VisibilityConstraint st_visibility_constraints;
00031       moveit_msgs::VisibilityConstraint * visibility_constraints;
00032 
00033     virtual int serialize(unsigned char *outbuffer) const
00034     {
00035       int offset = 0;
00036       uint32_t length_name = strlen(this->name);
00037       memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
00038       offset += 4;
00039       memcpy(outbuffer + offset, this->name, length_name);
00040       offset += length_name;
00041       *(outbuffer + offset++) = joint_constraints_length;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       *(outbuffer + offset++) = 0;
00045       for( uint8_t i = 0; i < joint_constraints_length; i++){
00046       offset += this->joint_constraints[i].serialize(outbuffer + offset);
00047       }
00048       *(outbuffer + offset++) = position_constraints_length;
00049       *(outbuffer + offset++) = 0;
00050       *(outbuffer + offset++) = 0;
00051       *(outbuffer + offset++) = 0;
00052       for( uint8_t i = 0; i < position_constraints_length; i++){
00053       offset += this->position_constraints[i].serialize(outbuffer + offset);
00054       }
00055       *(outbuffer + offset++) = orientation_constraints_length;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = 0;
00058       *(outbuffer + offset++) = 0;
00059       for( uint8_t i = 0; i < orientation_constraints_length; i++){
00060       offset += this->orientation_constraints[i].serialize(outbuffer + offset);
00061       }
00062       *(outbuffer + offset++) = visibility_constraints_length;
00063       *(outbuffer + offset++) = 0;
00064       *(outbuffer + offset++) = 0;
00065       *(outbuffer + offset++) = 0;
00066       for( uint8_t i = 0; i < visibility_constraints_length; i++){
00067       offset += this->visibility_constraints[i].serialize(outbuffer + offset);
00068       }
00069       return offset;
00070     }
00071 
00072     virtual int deserialize(unsigned char *inbuffer)
00073     {
00074       int offset = 0;
00075       uint32_t length_name;
00076       memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
00077       offset += 4;
00078       for(unsigned int k= offset; k< offset+length_name; ++k){
00079           inbuffer[k-1]=inbuffer[k];
00080       }
00081       inbuffer[offset+length_name-1]=0;
00082       this->name = (char *)(inbuffer + offset-1);
00083       offset += length_name;
00084       uint8_t joint_constraints_lengthT = *(inbuffer + offset++);
00085       if(joint_constraints_lengthT > joint_constraints_length)
00086         this->joint_constraints = (moveit_msgs::JointConstraint*)realloc(this->joint_constraints, joint_constraints_lengthT * sizeof(moveit_msgs::JointConstraint));
00087       offset += 3;
00088       joint_constraints_length = joint_constraints_lengthT;
00089       for( uint8_t i = 0; i < joint_constraints_length; i++){
00090       offset += this->st_joint_constraints.deserialize(inbuffer + offset);
00091         memcpy( &(this->joint_constraints[i]), &(this->st_joint_constraints), sizeof(moveit_msgs::JointConstraint));
00092       }
00093       uint8_t position_constraints_lengthT = *(inbuffer + offset++);
00094       if(position_constraints_lengthT > position_constraints_length)
00095         this->position_constraints = (moveit_msgs::PositionConstraint*)realloc(this->position_constraints, position_constraints_lengthT * sizeof(moveit_msgs::PositionConstraint));
00096       offset += 3;
00097       position_constraints_length = position_constraints_lengthT;
00098       for( uint8_t i = 0; i < position_constraints_length; i++){
00099       offset += this->st_position_constraints.deserialize(inbuffer + offset);
00100         memcpy( &(this->position_constraints[i]), &(this->st_position_constraints), sizeof(moveit_msgs::PositionConstraint));
00101       }
00102       uint8_t orientation_constraints_lengthT = *(inbuffer + offset++);
00103       if(orientation_constraints_lengthT > orientation_constraints_length)
00104         this->orientation_constraints = (moveit_msgs::OrientationConstraint*)realloc(this->orientation_constraints, orientation_constraints_lengthT * sizeof(moveit_msgs::OrientationConstraint));
00105       offset += 3;
00106       orientation_constraints_length = orientation_constraints_lengthT;
00107       for( uint8_t i = 0; i < orientation_constraints_length; i++){
00108       offset += this->st_orientation_constraints.deserialize(inbuffer + offset);
00109         memcpy( &(this->orientation_constraints[i]), &(this->st_orientation_constraints), sizeof(moveit_msgs::OrientationConstraint));
00110       }
00111       uint8_t visibility_constraints_lengthT = *(inbuffer + offset++);
00112       if(visibility_constraints_lengthT > visibility_constraints_length)
00113         this->visibility_constraints = (moveit_msgs::VisibilityConstraint*)realloc(this->visibility_constraints, visibility_constraints_lengthT * sizeof(moveit_msgs::VisibilityConstraint));
00114       offset += 3;
00115       visibility_constraints_length = visibility_constraints_lengthT;
00116       for( uint8_t i = 0; i < visibility_constraints_length; i++){
00117       offset += this->st_visibility_constraints.deserialize(inbuffer + offset);
00118         memcpy( &(this->visibility_constraints[i]), &(this->st_visibility_constraints), sizeof(moveit_msgs::VisibilityConstraint));
00119       }
00120      return offset;
00121     }
00122 
00123     const char * getType(){ return "moveit_msgs/Constraints"; };
00124     const char * getMD5(){ return "8d5ce8d34ef26c65fb5d43c9e99bf6e0"; };
00125 
00126   };
00127 
00128 }
00129 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Thu Aug 27 2015 14:39:49