MotionPlanDetailedResponse.h
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00001 #ifndef _ROS_moveit_msgs_MotionPlanDetailedResponse_h
00002 #define _ROS_moveit_msgs_MotionPlanDetailedResponse_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/RobotState.h"
00009 #include "moveit_msgs/RobotTrajectory.h"
00010 #include "moveit_msgs/MoveItErrorCodes.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class MotionPlanDetailedResponse : public ros::Msg
00016   {
00017     public:
00018       moveit_msgs::RobotState trajectory_start;
00019       const char* group_name;
00020       uint8_t trajectory_length;
00021       moveit_msgs::RobotTrajectory st_trajectory;
00022       moveit_msgs::RobotTrajectory * trajectory;
00023       uint8_t description_length;
00024       char* st_description;
00025       char* * description;
00026       uint8_t processing_time_length;
00027       float st_processing_time;
00028       float * processing_time;
00029       moveit_msgs::MoveItErrorCodes error_code;
00030 
00031     virtual int serialize(unsigned char *outbuffer) const
00032     {
00033       int offset = 0;
00034       offset += this->trajectory_start.serialize(outbuffer + offset);
00035       uint32_t length_group_name = strlen(this->group_name);
00036       memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
00037       offset += 4;
00038       memcpy(outbuffer + offset, this->group_name, length_group_name);
00039       offset += length_group_name;
00040       *(outbuffer + offset++) = trajectory_length;
00041       *(outbuffer + offset++) = 0;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       for( uint8_t i = 0; i < trajectory_length; i++){
00045       offset += this->trajectory[i].serialize(outbuffer + offset);
00046       }
00047       *(outbuffer + offset++) = description_length;
00048       *(outbuffer + offset++) = 0;
00049       *(outbuffer + offset++) = 0;
00050       *(outbuffer + offset++) = 0;
00051       for( uint8_t i = 0; i < description_length; i++){
00052       uint32_t length_descriptioni = strlen(this->description[i]);
00053       memcpy(outbuffer + offset, &length_descriptioni, sizeof(uint32_t));
00054       offset += 4;
00055       memcpy(outbuffer + offset, this->description[i], length_descriptioni);
00056       offset += length_descriptioni;
00057       }
00058       *(outbuffer + offset++) = processing_time_length;
00059       *(outbuffer + offset++) = 0;
00060       *(outbuffer + offset++) = 0;
00061       *(outbuffer + offset++) = 0;
00062       for( uint8_t i = 0; i < processing_time_length; i++){
00063       int32_t * val_processing_timei = (int32_t *) &(this->processing_time[i]);
00064       int32_t exp_processing_timei = (((*val_processing_timei)>>23)&255);
00065       if(exp_processing_timei != 0)
00066         exp_processing_timei += 1023-127;
00067       int32_t sig_processing_timei = *val_processing_timei;
00068       *(outbuffer + offset++) = 0;
00069       *(outbuffer + offset++) = 0;
00070       *(outbuffer + offset++) = 0;
00071       *(outbuffer + offset++) = (sig_processing_timei<<5) & 0xff;
00072       *(outbuffer + offset++) = (sig_processing_timei>>3) & 0xff;
00073       *(outbuffer + offset++) = (sig_processing_timei>>11) & 0xff;
00074       *(outbuffer + offset++) = ((exp_processing_timei<<4) & 0xF0) | ((sig_processing_timei>>19)&0x0F);
00075       *(outbuffer + offset++) = (exp_processing_timei>>4) & 0x7F;
00076       if(this->processing_time[i] < 0) *(outbuffer + offset -1) |= 0x80;
00077       }
00078       offset += this->error_code.serialize(outbuffer + offset);
00079       return offset;
00080     }
00081 
00082     virtual int deserialize(unsigned char *inbuffer)
00083     {
00084       int offset = 0;
00085       offset += this->trajectory_start.deserialize(inbuffer + offset);
00086       uint32_t length_group_name;
00087       memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
00088       offset += 4;
00089       for(unsigned int k= offset; k< offset+length_group_name; ++k){
00090           inbuffer[k-1]=inbuffer[k];
00091       }
00092       inbuffer[offset+length_group_name-1]=0;
00093       this->group_name = (char *)(inbuffer + offset-1);
00094       offset += length_group_name;
00095       uint8_t trajectory_lengthT = *(inbuffer + offset++);
00096       if(trajectory_lengthT > trajectory_length)
00097         this->trajectory = (moveit_msgs::RobotTrajectory*)realloc(this->trajectory, trajectory_lengthT * sizeof(moveit_msgs::RobotTrajectory));
00098       offset += 3;
00099       trajectory_length = trajectory_lengthT;
00100       for( uint8_t i = 0; i < trajectory_length; i++){
00101       offset += this->st_trajectory.deserialize(inbuffer + offset);
00102         memcpy( &(this->trajectory[i]), &(this->st_trajectory), sizeof(moveit_msgs::RobotTrajectory));
00103       }
00104       uint8_t description_lengthT = *(inbuffer + offset++);
00105       if(description_lengthT > description_length)
00106         this->description = (char**)realloc(this->description, description_lengthT * sizeof(char*));
00107       offset += 3;
00108       description_length = description_lengthT;
00109       for( uint8_t i = 0; i < description_length; i++){
00110       uint32_t length_st_description;
00111       memcpy(&length_st_description, (inbuffer + offset), sizeof(uint32_t));
00112       offset += 4;
00113       for(unsigned int k= offset; k< offset+length_st_description; ++k){
00114           inbuffer[k-1]=inbuffer[k];
00115       }
00116       inbuffer[offset+length_st_description-1]=0;
00117       this->st_description = (char *)(inbuffer + offset-1);
00118       offset += length_st_description;
00119         memcpy( &(this->description[i]), &(this->st_description), sizeof(char*));
00120       }
00121       uint8_t processing_time_lengthT = *(inbuffer + offset++);
00122       if(processing_time_lengthT > processing_time_length)
00123         this->processing_time = (float*)realloc(this->processing_time, processing_time_lengthT * sizeof(float));
00124       offset += 3;
00125       processing_time_length = processing_time_lengthT;
00126       for( uint8_t i = 0; i < processing_time_length; i++){
00127       uint32_t * val_st_processing_time = (uint32_t*) &(this->st_processing_time);
00128       offset += 3;
00129       *val_st_processing_time = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00130       *val_st_processing_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00131       *val_st_processing_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00132       *val_st_processing_time |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00133       uint32_t exp_st_processing_time = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00134       exp_st_processing_time |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00135       if(exp_st_processing_time !=0)
00136         *val_st_processing_time |= ((exp_st_processing_time)-1023+127)<<23;
00137       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_processing_time = -this->st_processing_time;
00138         memcpy( &(this->processing_time[i]), &(this->st_processing_time), sizeof(float));
00139       }
00140       offset += this->error_code.deserialize(inbuffer + offset);
00141      return offset;
00142     }
00143 
00144     const char * getType(){ return "moveit_msgs/MotionPlanDetailedResponse"; };
00145     const char * getMD5(){ return "7b84c374bb2e37bdc0eba664f7636a8f"; };
00146 
00147   };
00148 
00149 }
00150 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:56