ConstraintEvalResult.h
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00001 #ifndef _ROS_moveit_msgs_ConstraintEvalResult_h
00002 #define _ROS_moveit_msgs_ConstraintEvalResult_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace moveit_msgs
00010 {
00011 
00012   class ConstraintEvalResult : public ros::Msg
00013   {
00014     public:
00015       bool result;
00016       float distance;
00017 
00018     virtual int serialize(unsigned char *outbuffer) const
00019     {
00020       int offset = 0;
00021       union {
00022         bool real;
00023         uint8_t base;
00024       } u_result;
00025       u_result.real = this->result;
00026       *(outbuffer + offset + 0) = (u_result.base >> (8 * 0)) & 0xFF;
00027       offset += sizeof(this->result);
00028       int32_t * val_distance = (int32_t *) &(this->distance);
00029       int32_t exp_distance = (((*val_distance)>>23)&255);
00030       if(exp_distance != 0)
00031         exp_distance += 1023-127;
00032       int32_t sig_distance = *val_distance;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = 0;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = (sig_distance<<5) & 0xff;
00037       *(outbuffer + offset++) = (sig_distance>>3) & 0xff;
00038       *(outbuffer + offset++) = (sig_distance>>11) & 0xff;
00039       *(outbuffer + offset++) = ((exp_distance<<4) & 0xF0) | ((sig_distance>>19)&0x0F);
00040       *(outbuffer + offset++) = (exp_distance>>4) & 0x7F;
00041       if(this->distance < 0) *(outbuffer + offset -1) |= 0x80;
00042       return offset;
00043     }
00044 
00045     virtual int deserialize(unsigned char *inbuffer)
00046     {
00047       int offset = 0;
00048       union {
00049         bool real;
00050         uint8_t base;
00051       } u_result;
00052       u_result.base = 0;
00053       u_result.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00054       this->result = u_result.real;
00055       offset += sizeof(this->result);
00056       uint32_t * val_distance = (uint32_t*) &(this->distance);
00057       offset += 3;
00058       *val_distance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00059       *val_distance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00060       *val_distance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00061       *val_distance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00062       uint32_t exp_distance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00063       exp_distance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00064       if(exp_distance !=0)
00065         *val_distance |= ((exp_distance)-1023+127)<<23;
00066       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->distance = -this->distance;
00067      return offset;
00068     }
00069 
00070     const char * getType(){ return "moveit_msgs/ConstraintEvalResult"; };
00071     const char * getMD5(){ return "093643083d24f6488cb5a868bd47c090"; };
00072 
00073   };
00074 
00075 }
00076 #endif


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