MoveGroupResult.h
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00001 #ifndef _ROS_moveit_msgs_MoveGroupResult_h
00002 #define _ROS_moveit_msgs_MoveGroupResult_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/MoveItErrorCodes.h"
00009 #include "moveit_msgs/RobotState.h"
00010 #include "moveit_msgs/RobotTrajectory.h"
00011 
00012 namespace moveit_msgs
00013 {
00014 
00015   class MoveGroupResult : public ros::Msg
00016   {
00017     public:
00018       moveit_msgs::MoveItErrorCodes error_code;
00019       moveit_msgs::RobotState trajectory_start;
00020       moveit_msgs::RobotTrajectory planned_trajectory;
00021       moveit_msgs::RobotTrajectory executed_trajectory;
00022       float planning_time;
00023 
00024     virtual int serialize(unsigned char *outbuffer) const
00025     {
00026       int offset = 0;
00027       offset += this->error_code.serialize(outbuffer + offset);
00028       offset += this->trajectory_start.serialize(outbuffer + offset);
00029       offset += this->planned_trajectory.serialize(outbuffer + offset);
00030       offset += this->executed_trajectory.serialize(outbuffer + offset);
00031       int32_t * val_planning_time = (int32_t *) &(this->planning_time);
00032       int32_t exp_planning_time = (((*val_planning_time)>>23)&255);
00033       if(exp_planning_time != 0)
00034         exp_planning_time += 1023-127;
00035       int32_t sig_planning_time = *val_planning_time;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       *(outbuffer + offset++) = 0;
00039       *(outbuffer + offset++) = (sig_planning_time<<5) & 0xff;
00040       *(outbuffer + offset++) = (sig_planning_time>>3) & 0xff;
00041       *(outbuffer + offset++) = (sig_planning_time>>11) & 0xff;
00042       *(outbuffer + offset++) = ((exp_planning_time<<4) & 0xF0) | ((sig_planning_time>>19)&0x0F);
00043       *(outbuffer + offset++) = (exp_planning_time>>4) & 0x7F;
00044       if(this->planning_time < 0) *(outbuffer + offset -1) |= 0x80;
00045       return offset;
00046     }
00047 
00048     virtual int deserialize(unsigned char *inbuffer)
00049     {
00050       int offset = 0;
00051       offset += this->error_code.deserialize(inbuffer + offset);
00052       offset += this->trajectory_start.deserialize(inbuffer + offset);
00053       offset += this->planned_trajectory.deserialize(inbuffer + offset);
00054       offset += this->executed_trajectory.deserialize(inbuffer + offset);
00055       uint32_t * val_planning_time = (uint32_t*) &(this->planning_time);
00056       offset += 3;
00057       *val_planning_time = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00058       *val_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00059       *val_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00060       *val_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00061       uint32_t exp_planning_time = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00062       exp_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00063       if(exp_planning_time !=0)
00064         *val_planning_time |= ((exp_planning_time)-1023+127)<<23;
00065       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->planning_time = -this->planning_time;
00066      return offset;
00067     }
00068 
00069     const char * getType(){ return "moveit_msgs/MoveGroupResult"; };
00070     const char * getMD5(){ return "34098589d402fee7ae9c3fd413e5a6c6"; };
00071 
00072   };
00073 
00074 }
00075 #endif


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