BoundingVolume.h
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00001 #ifndef _ROS_moveit_msgs_BoundingVolume_h
00002 #define _ROS_moveit_msgs_BoundingVolume_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "shape_msgs/SolidPrimitive.h"
00009 #include "geometry_msgs/Pose.h"
00010 #include "shape_msgs/Mesh.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class BoundingVolume : public ros::Msg
00016   {
00017     public:
00018       uint8_t primitives_length;
00019       shape_msgs::SolidPrimitive st_primitives;
00020       shape_msgs::SolidPrimitive * primitives;
00021       uint8_t primitive_poses_length;
00022       geometry_msgs::Pose st_primitive_poses;
00023       geometry_msgs::Pose * primitive_poses;
00024       uint8_t meshes_length;
00025       shape_msgs::Mesh st_meshes;
00026       shape_msgs::Mesh * meshes;
00027       uint8_t mesh_poses_length;
00028       geometry_msgs::Pose st_mesh_poses;
00029       geometry_msgs::Pose * mesh_poses;
00030 
00031     virtual int serialize(unsigned char *outbuffer) const
00032     {
00033       int offset = 0;
00034       *(outbuffer + offset++) = primitives_length;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       for( uint8_t i = 0; i < primitives_length; i++){
00039       offset += this->primitives[i].serialize(outbuffer + offset);
00040       }
00041       *(outbuffer + offset++) = primitive_poses_length;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       *(outbuffer + offset++) = 0;
00045       for( uint8_t i = 0; i < primitive_poses_length; i++){
00046       offset += this->primitive_poses[i].serialize(outbuffer + offset);
00047       }
00048       *(outbuffer + offset++) = meshes_length;
00049       *(outbuffer + offset++) = 0;
00050       *(outbuffer + offset++) = 0;
00051       *(outbuffer + offset++) = 0;
00052       for( uint8_t i = 0; i < meshes_length; i++){
00053       offset += this->meshes[i].serialize(outbuffer + offset);
00054       }
00055       *(outbuffer + offset++) = mesh_poses_length;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = 0;
00058       *(outbuffer + offset++) = 0;
00059       for( uint8_t i = 0; i < mesh_poses_length; i++){
00060       offset += this->mesh_poses[i].serialize(outbuffer + offset);
00061       }
00062       return offset;
00063     }
00064 
00065     virtual int deserialize(unsigned char *inbuffer)
00066     {
00067       int offset = 0;
00068       uint8_t primitives_lengthT = *(inbuffer + offset++);
00069       if(primitives_lengthT > primitives_length)
00070         this->primitives = (shape_msgs::SolidPrimitive*)realloc(this->primitives, primitives_lengthT * sizeof(shape_msgs::SolidPrimitive));
00071       offset += 3;
00072       primitives_length = primitives_lengthT;
00073       for( uint8_t i = 0; i < primitives_length; i++){
00074       offset += this->st_primitives.deserialize(inbuffer + offset);
00075         memcpy( &(this->primitives[i]), &(this->st_primitives), sizeof(shape_msgs::SolidPrimitive));
00076       }
00077       uint8_t primitive_poses_lengthT = *(inbuffer + offset++);
00078       if(primitive_poses_lengthT > primitive_poses_length)
00079         this->primitive_poses = (geometry_msgs::Pose*)realloc(this->primitive_poses, primitive_poses_lengthT * sizeof(geometry_msgs::Pose));
00080       offset += 3;
00081       primitive_poses_length = primitive_poses_lengthT;
00082       for( uint8_t i = 0; i < primitive_poses_length; i++){
00083       offset += this->st_primitive_poses.deserialize(inbuffer + offset);
00084         memcpy( &(this->primitive_poses[i]), &(this->st_primitive_poses), sizeof(geometry_msgs::Pose));
00085       }
00086       uint8_t meshes_lengthT = *(inbuffer + offset++);
00087       if(meshes_lengthT > meshes_length)
00088         this->meshes = (shape_msgs::Mesh*)realloc(this->meshes, meshes_lengthT * sizeof(shape_msgs::Mesh));
00089       offset += 3;
00090       meshes_length = meshes_lengthT;
00091       for( uint8_t i = 0; i < meshes_length; i++){
00092       offset += this->st_meshes.deserialize(inbuffer + offset);
00093         memcpy( &(this->meshes[i]), &(this->st_meshes), sizeof(shape_msgs::Mesh));
00094       }
00095       uint8_t mesh_poses_lengthT = *(inbuffer + offset++);
00096       if(mesh_poses_lengthT > mesh_poses_length)
00097         this->mesh_poses = (geometry_msgs::Pose*)realloc(this->mesh_poses, mesh_poses_lengthT * sizeof(geometry_msgs::Pose));
00098       offset += 3;
00099       mesh_poses_length = mesh_poses_lengthT;
00100       for( uint8_t i = 0; i < mesh_poses_length; i++){
00101       offset += this->st_mesh_poses.deserialize(inbuffer + offset);
00102         memcpy( &(this->mesh_poses[i]), &(this->st_mesh_poses), sizeof(geometry_msgs::Pose));
00103       }
00104      return offset;
00105     }
00106 
00107     const char * getType(){ return "moveit_msgs/BoundingVolume"; };
00108     const char * getMD5(){ return "22db94010f39e9198032cb4a1aeda26e"; };
00109 
00110   };
00111 
00112 }
00113 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:55