GetPositionFK.h
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00001 #ifndef _ROS_SERVICE_GetPositionFK_h
00002 #define _ROS_SERVICE_GetPositionFK_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "moveit_msgs/MoveItErrorCodes.h"
00008 #include "geometry_msgs/PoseStamped.h"
00009 #include "std_msgs/Header.h"
00010 #include "moveit_msgs/RobotState.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015 static const char GETPOSITIONFK[] = "moveit_msgs/GetPositionFK";
00016 
00017   class GetPositionFKRequest : public ros::Msg
00018   {
00019     public:
00020       std_msgs::Header header;
00021       uint8_t fk_link_names_length;
00022       char* st_fk_link_names;
00023       char* * fk_link_names;
00024       moveit_msgs::RobotState robot_state;
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       offset += this->header.serialize(outbuffer + offset);
00030       *(outbuffer + offset++) = fk_link_names_length;
00031       *(outbuffer + offset++) = 0;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       for( uint8_t i = 0; i < fk_link_names_length; i++){
00035       uint32_t length_fk_link_namesi = strlen(this->fk_link_names[i]);
00036       memcpy(outbuffer + offset, &length_fk_link_namesi, sizeof(uint32_t));
00037       offset += 4;
00038       memcpy(outbuffer + offset, this->fk_link_names[i], length_fk_link_namesi);
00039       offset += length_fk_link_namesi;
00040       }
00041       offset += this->robot_state.serialize(outbuffer + offset);
00042       return offset;
00043     }
00044 
00045     virtual int deserialize(unsigned char *inbuffer)
00046     {
00047       int offset = 0;
00048       offset += this->header.deserialize(inbuffer + offset);
00049       uint8_t fk_link_names_lengthT = *(inbuffer + offset++);
00050       if(fk_link_names_lengthT > fk_link_names_length)
00051         this->fk_link_names = (char**)realloc(this->fk_link_names, fk_link_names_lengthT * sizeof(char*));
00052       offset += 3;
00053       fk_link_names_length = fk_link_names_lengthT;
00054       for( uint8_t i = 0; i < fk_link_names_length; i++){
00055       uint32_t length_st_fk_link_names;
00056       memcpy(&length_st_fk_link_names, (inbuffer + offset), sizeof(uint32_t));
00057       offset += 4;
00058       for(unsigned int k= offset; k< offset+length_st_fk_link_names; ++k){
00059           inbuffer[k-1]=inbuffer[k];
00060       }
00061       inbuffer[offset+length_st_fk_link_names-1]=0;
00062       this->st_fk_link_names = (char *)(inbuffer + offset-1);
00063       offset += length_st_fk_link_names;
00064         memcpy( &(this->fk_link_names[i]), &(this->st_fk_link_names), sizeof(char*));
00065       }
00066       offset += this->robot_state.deserialize(inbuffer + offset);
00067      return offset;
00068     }
00069 
00070     const char * getType(){ return GETPOSITIONFK; };
00071     const char * getMD5(){ return "1d1ed72044ed56f6246c31b522781797"; };
00072 
00073   };
00074 
00075   class GetPositionFKResponse : public ros::Msg
00076   {
00077     public:
00078       uint8_t pose_stamped_length;
00079       geometry_msgs::PoseStamped st_pose_stamped;
00080       geometry_msgs::PoseStamped * pose_stamped;
00081       uint8_t fk_link_names_length;
00082       char* st_fk_link_names;
00083       char* * fk_link_names;
00084       moveit_msgs::MoveItErrorCodes error_code;
00085 
00086     virtual int serialize(unsigned char *outbuffer) const
00087     {
00088       int offset = 0;
00089       *(outbuffer + offset++) = pose_stamped_length;
00090       *(outbuffer + offset++) = 0;
00091       *(outbuffer + offset++) = 0;
00092       *(outbuffer + offset++) = 0;
00093       for( uint8_t i = 0; i < pose_stamped_length; i++){
00094       offset += this->pose_stamped[i].serialize(outbuffer + offset);
00095       }
00096       *(outbuffer + offset++) = fk_link_names_length;
00097       *(outbuffer + offset++) = 0;
00098       *(outbuffer + offset++) = 0;
00099       *(outbuffer + offset++) = 0;
00100       for( uint8_t i = 0; i < fk_link_names_length; i++){
00101       uint32_t length_fk_link_namesi = strlen(this->fk_link_names[i]);
00102       memcpy(outbuffer + offset, &length_fk_link_namesi, sizeof(uint32_t));
00103       offset += 4;
00104       memcpy(outbuffer + offset, this->fk_link_names[i], length_fk_link_namesi);
00105       offset += length_fk_link_namesi;
00106       }
00107       offset += this->error_code.serialize(outbuffer + offset);
00108       return offset;
00109     }
00110 
00111     virtual int deserialize(unsigned char *inbuffer)
00112     {
00113       int offset = 0;
00114       uint8_t pose_stamped_lengthT = *(inbuffer + offset++);
00115       if(pose_stamped_lengthT > pose_stamped_length)
00116         this->pose_stamped = (geometry_msgs::PoseStamped*)realloc(this->pose_stamped, pose_stamped_lengthT * sizeof(geometry_msgs::PoseStamped));
00117       offset += 3;
00118       pose_stamped_length = pose_stamped_lengthT;
00119       for( uint8_t i = 0; i < pose_stamped_length; i++){
00120       offset += this->st_pose_stamped.deserialize(inbuffer + offset);
00121         memcpy( &(this->pose_stamped[i]), &(this->st_pose_stamped), sizeof(geometry_msgs::PoseStamped));
00122       }
00123       uint8_t fk_link_names_lengthT = *(inbuffer + offset++);
00124       if(fk_link_names_lengthT > fk_link_names_length)
00125         this->fk_link_names = (char**)realloc(this->fk_link_names, fk_link_names_lengthT * sizeof(char*));
00126       offset += 3;
00127       fk_link_names_length = fk_link_names_lengthT;
00128       for( uint8_t i = 0; i < fk_link_names_length; i++){
00129       uint32_t length_st_fk_link_names;
00130       memcpy(&length_st_fk_link_names, (inbuffer + offset), sizeof(uint32_t));
00131       offset += 4;
00132       for(unsigned int k= offset; k< offset+length_st_fk_link_names; ++k){
00133           inbuffer[k-1]=inbuffer[k];
00134       }
00135       inbuffer[offset+length_st_fk_link_names-1]=0;
00136       this->st_fk_link_names = (char *)(inbuffer + offset-1);
00137       offset += length_st_fk_link_names;
00138         memcpy( &(this->fk_link_names[i]), &(this->st_fk_link_names), sizeof(char*));
00139       }
00140       offset += this->error_code.deserialize(inbuffer + offset);
00141      return offset;
00142     }
00143 
00144     const char * getType(){ return GETPOSITIONFK; };
00145     const char * getMD5(){ return "297215cf4fdfe0008356995ae621dae6"; };
00146 
00147   };
00148 
00149   class GetPositionFK {
00150     public:
00151     typedef GetPositionFKRequest Request;
00152     typedef GetPositionFKResponse Response;
00153   };
00154 
00155 }
00156 #endif


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