MotionPlanResponse.h
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00001 #ifndef _ROS_moveit_msgs_MotionPlanResponse_h
00002 #define _ROS_moveit_msgs_MotionPlanResponse_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/RobotState.h"
00009 #include "moveit_msgs/RobotTrajectory.h"
00010 #include "moveit_msgs/MoveItErrorCodes.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class MotionPlanResponse : public ros::Msg
00016   {
00017     public:
00018       moveit_msgs::RobotState trajectory_start;
00019       const char* group_name;
00020       moveit_msgs::RobotTrajectory trajectory;
00021       float planning_time;
00022       moveit_msgs::MoveItErrorCodes error_code;
00023 
00024     virtual int serialize(unsigned char *outbuffer) const
00025     {
00026       int offset = 0;
00027       offset += this->trajectory_start.serialize(outbuffer + offset);
00028       uint32_t length_group_name = strlen(this->group_name);
00029       memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
00030       offset += 4;
00031       memcpy(outbuffer + offset, this->group_name, length_group_name);
00032       offset += length_group_name;
00033       offset += this->trajectory.serialize(outbuffer + offset);
00034       int32_t * val_planning_time = (int32_t *) &(this->planning_time);
00035       int32_t exp_planning_time = (((*val_planning_time)>>23)&255);
00036       if(exp_planning_time != 0)
00037         exp_planning_time += 1023-127;
00038       int32_t sig_planning_time = *val_planning_time;
00039       *(outbuffer + offset++) = 0;
00040       *(outbuffer + offset++) = 0;
00041       *(outbuffer + offset++) = 0;
00042       *(outbuffer + offset++) = (sig_planning_time<<5) & 0xff;
00043       *(outbuffer + offset++) = (sig_planning_time>>3) & 0xff;
00044       *(outbuffer + offset++) = (sig_planning_time>>11) & 0xff;
00045       *(outbuffer + offset++) = ((exp_planning_time<<4) & 0xF0) | ((sig_planning_time>>19)&0x0F);
00046       *(outbuffer + offset++) = (exp_planning_time>>4) & 0x7F;
00047       if(this->planning_time < 0) *(outbuffer + offset -1) |= 0x80;
00048       offset += this->error_code.serialize(outbuffer + offset);
00049       return offset;
00050     }
00051 
00052     virtual int deserialize(unsigned char *inbuffer)
00053     {
00054       int offset = 0;
00055       offset += this->trajectory_start.deserialize(inbuffer + offset);
00056       uint32_t length_group_name;
00057       memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
00058       offset += 4;
00059       for(unsigned int k= offset; k< offset+length_group_name; ++k){
00060           inbuffer[k-1]=inbuffer[k];
00061       }
00062       inbuffer[offset+length_group_name-1]=0;
00063       this->group_name = (char *)(inbuffer + offset-1);
00064       offset += length_group_name;
00065       offset += this->trajectory.deserialize(inbuffer + offset);
00066       uint32_t * val_planning_time = (uint32_t*) &(this->planning_time);
00067       offset += 3;
00068       *val_planning_time = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00069       *val_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00070       *val_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00071       *val_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00072       uint32_t exp_planning_time = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00073       exp_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00074       if(exp_planning_time !=0)
00075         *val_planning_time |= ((exp_planning_time)-1023+127)<<23;
00076       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->planning_time = -this->planning_time;
00077       offset += this->error_code.deserialize(inbuffer + offset);
00078      return offset;
00079     }
00080 
00081     const char * getType(){ return "moveit_msgs/MotionPlanResponse"; };
00082     const char * getMD5(){ return "e493d20ab41424c48f671e152c70fc74"; };
00083 
00084   };
00085 
00086 }
00087 #endif


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