AttachedCollisionObject.h
Go to the documentation of this file.
00001 #ifndef _ROS_moveit_msgs_AttachedCollisionObject_h
00002 #define _ROS_moveit_msgs_AttachedCollisionObject_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/CollisionObject.h"
00009 #include "trajectory_msgs/JointTrajectory.h"
00010 
00011 namespace moveit_msgs
00012 {
00013 
00014   class AttachedCollisionObject : public ros::Msg
00015   {
00016     public:
00017       const char* link_name;
00018       moveit_msgs::CollisionObject object;
00019       uint8_t touch_links_length;
00020       char* st_touch_links;
00021       char* * touch_links;
00022       trajectory_msgs::JointTrajectory detach_posture;
00023       float weight;
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       uint32_t length_link_name = strlen(this->link_name);
00029       memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
00030       offset += 4;
00031       memcpy(outbuffer + offset, this->link_name, length_link_name);
00032       offset += length_link_name;
00033       offset += this->object.serialize(outbuffer + offset);
00034       *(outbuffer + offset++) = touch_links_length;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       for( uint8_t i = 0; i < touch_links_length; i++){
00039       uint32_t length_touch_linksi = strlen(this->touch_links[i]);
00040       memcpy(outbuffer + offset, &length_touch_linksi, sizeof(uint32_t));
00041       offset += 4;
00042       memcpy(outbuffer + offset, this->touch_links[i], length_touch_linksi);
00043       offset += length_touch_linksi;
00044       }
00045       offset += this->detach_posture.serialize(outbuffer + offset);
00046       int32_t * val_weight = (int32_t *) &(this->weight);
00047       int32_t exp_weight = (((*val_weight)>>23)&255);
00048       if(exp_weight != 0)
00049         exp_weight += 1023-127;
00050       int32_t sig_weight = *val_weight;
00051       *(outbuffer + offset++) = 0;
00052       *(outbuffer + offset++) = 0;
00053       *(outbuffer + offset++) = 0;
00054       *(outbuffer + offset++) = (sig_weight<<5) & 0xff;
00055       *(outbuffer + offset++) = (sig_weight>>3) & 0xff;
00056       *(outbuffer + offset++) = (sig_weight>>11) & 0xff;
00057       *(outbuffer + offset++) = ((exp_weight<<4) & 0xF0) | ((sig_weight>>19)&0x0F);
00058       *(outbuffer + offset++) = (exp_weight>>4) & 0x7F;
00059       if(this->weight < 0) *(outbuffer + offset -1) |= 0x80;
00060       return offset;
00061     }
00062 
00063     virtual int deserialize(unsigned char *inbuffer)
00064     {
00065       int offset = 0;
00066       uint32_t length_link_name;
00067       memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
00068       offset += 4;
00069       for(unsigned int k= offset; k< offset+length_link_name; ++k){
00070           inbuffer[k-1]=inbuffer[k];
00071       }
00072       inbuffer[offset+length_link_name-1]=0;
00073       this->link_name = (char *)(inbuffer + offset-1);
00074       offset += length_link_name;
00075       offset += this->object.deserialize(inbuffer + offset);
00076       uint8_t touch_links_lengthT = *(inbuffer + offset++);
00077       if(touch_links_lengthT > touch_links_length)
00078         this->touch_links = (char**)realloc(this->touch_links, touch_links_lengthT * sizeof(char*));
00079       offset += 3;
00080       touch_links_length = touch_links_lengthT;
00081       for( uint8_t i = 0; i < touch_links_length; i++){
00082       uint32_t length_st_touch_links;
00083       memcpy(&length_st_touch_links, (inbuffer + offset), sizeof(uint32_t));
00084       offset += 4;
00085       for(unsigned int k= offset; k< offset+length_st_touch_links; ++k){
00086           inbuffer[k-1]=inbuffer[k];
00087       }
00088       inbuffer[offset+length_st_touch_links-1]=0;
00089       this->st_touch_links = (char *)(inbuffer + offset-1);
00090       offset += length_st_touch_links;
00091         memcpy( &(this->touch_links[i]), &(this->st_touch_links), sizeof(char*));
00092       }
00093       offset += this->detach_posture.deserialize(inbuffer + offset);
00094       uint32_t * val_weight = (uint32_t*) &(this->weight);
00095       offset += 3;
00096       *val_weight = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00097       *val_weight |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00098       *val_weight |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00099       *val_weight |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00100       uint32_t exp_weight = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00101       exp_weight |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00102       if(exp_weight !=0)
00103         *val_weight |= ((exp_weight)-1023+127)<<23;
00104       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->weight = -this->weight;
00105      return offset;
00106     }
00107 
00108     const char * getType(){ return "moveit_msgs/AttachedCollisionObject"; };
00109     const char * getMD5(){ return "3ceac60b21e85bbd6c5b0ab9d476b752"; };
00110 
00111   };
00112 
00113 }
00114 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:54