DisplayTrajectory.h
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00001 #ifndef _ROS_moveit_msgs_DisplayTrajectory_h
00002 #define _ROS_moveit_msgs_DisplayTrajectory_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/RobotTrajectory.h"
00009 #include "moveit_msgs/RobotState.h"
00010 
00011 namespace moveit_msgs
00012 {
00013 
00014   class DisplayTrajectory : public ros::Msg
00015   {
00016     public:
00017       const char* model_id;
00018       uint8_t trajectory_length;
00019       moveit_msgs::RobotTrajectory st_trajectory;
00020       moveit_msgs::RobotTrajectory * trajectory;
00021       moveit_msgs::RobotState trajectory_start;
00022 
00023     virtual int serialize(unsigned char *outbuffer) const
00024     {
00025       int offset = 0;
00026       uint32_t length_model_id = strlen(this->model_id);
00027       memcpy(outbuffer + offset, &length_model_id, sizeof(uint32_t));
00028       offset += 4;
00029       memcpy(outbuffer + offset, this->model_id, length_model_id);
00030       offset += length_model_id;
00031       *(outbuffer + offset++) = trajectory_length;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = 0;
00035       for( uint8_t i = 0; i < trajectory_length; i++){
00036       offset += this->trajectory[i].serialize(outbuffer + offset);
00037       }
00038       offset += this->trajectory_start.serialize(outbuffer + offset);
00039       return offset;
00040     }
00041 
00042     virtual int deserialize(unsigned char *inbuffer)
00043     {
00044       int offset = 0;
00045       uint32_t length_model_id;
00046       memcpy(&length_model_id, (inbuffer + offset), sizeof(uint32_t));
00047       offset += 4;
00048       for(unsigned int k= offset; k< offset+length_model_id; ++k){
00049           inbuffer[k-1]=inbuffer[k];
00050       }
00051       inbuffer[offset+length_model_id-1]=0;
00052       this->model_id = (char *)(inbuffer + offset-1);
00053       offset += length_model_id;
00054       uint8_t trajectory_lengthT = *(inbuffer + offset++);
00055       if(trajectory_lengthT > trajectory_length)
00056         this->trajectory = (moveit_msgs::RobotTrajectory*)realloc(this->trajectory, trajectory_lengthT * sizeof(moveit_msgs::RobotTrajectory));
00057       offset += 3;
00058       trajectory_length = trajectory_lengthT;
00059       for( uint8_t i = 0; i < trajectory_length; i++){
00060       offset += this->st_trajectory.deserialize(inbuffer + offset);
00061         memcpy( &(this->trajectory[i]), &(this->st_trajectory), sizeof(moveit_msgs::RobotTrajectory));
00062       }
00063       offset += this->trajectory_start.deserialize(inbuffer + offset);
00064      return offset;
00065     }
00066 
00067     const char * getType(){ return "moveit_msgs/DisplayTrajectory"; };
00068     const char * getMD5(){ return "c3c039261ab9e8a11457dac56b6316c8"; };
00069 
00070   };
00071 
00072 }
00073 #endif


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