OrientationConstraint.h
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00001 #ifndef _ROS_moveit_msgs_OrientationConstraint_h
00002 #define _ROS_moveit_msgs_OrientationConstraint_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/Quaternion.h"
00010 
00011 namespace moveit_msgs
00012 {
00013 
00014   class OrientationConstraint : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       geometry_msgs::Quaternion orientation;
00019       const char* link_name;
00020       float absolute_x_axis_tolerance;
00021       float absolute_y_axis_tolerance;
00022       float absolute_z_axis_tolerance;
00023       float weight;
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       offset += this->header.serialize(outbuffer + offset);
00029       offset += this->orientation.serialize(outbuffer + offset);
00030       uint32_t length_link_name = strlen(this->link_name);
00031       memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
00032       offset += 4;
00033       memcpy(outbuffer + offset, this->link_name, length_link_name);
00034       offset += length_link_name;
00035       int32_t * val_absolute_x_axis_tolerance = (int32_t *) &(this->absolute_x_axis_tolerance);
00036       int32_t exp_absolute_x_axis_tolerance = (((*val_absolute_x_axis_tolerance)>>23)&255);
00037       if(exp_absolute_x_axis_tolerance != 0)
00038         exp_absolute_x_axis_tolerance += 1023-127;
00039       int32_t sig_absolute_x_axis_tolerance = *val_absolute_x_axis_tolerance;
00040       *(outbuffer + offset++) = 0;
00041       *(outbuffer + offset++) = 0;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = (sig_absolute_x_axis_tolerance<<5) & 0xff;
00044       *(outbuffer + offset++) = (sig_absolute_x_axis_tolerance>>3) & 0xff;
00045       *(outbuffer + offset++) = (sig_absolute_x_axis_tolerance>>11) & 0xff;
00046       *(outbuffer + offset++) = ((exp_absolute_x_axis_tolerance<<4) & 0xF0) | ((sig_absolute_x_axis_tolerance>>19)&0x0F);
00047       *(outbuffer + offset++) = (exp_absolute_x_axis_tolerance>>4) & 0x7F;
00048       if(this->absolute_x_axis_tolerance < 0) *(outbuffer + offset -1) |= 0x80;
00049       int32_t * val_absolute_y_axis_tolerance = (int32_t *) &(this->absolute_y_axis_tolerance);
00050       int32_t exp_absolute_y_axis_tolerance = (((*val_absolute_y_axis_tolerance)>>23)&255);
00051       if(exp_absolute_y_axis_tolerance != 0)
00052         exp_absolute_y_axis_tolerance += 1023-127;
00053       int32_t sig_absolute_y_axis_tolerance = *val_absolute_y_axis_tolerance;
00054       *(outbuffer + offset++) = 0;
00055       *(outbuffer + offset++) = 0;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = (sig_absolute_y_axis_tolerance<<5) & 0xff;
00058       *(outbuffer + offset++) = (sig_absolute_y_axis_tolerance>>3) & 0xff;
00059       *(outbuffer + offset++) = (sig_absolute_y_axis_tolerance>>11) & 0xff;
00060       *(outbuffer + offset++) = ((exp_absolute_y_axis_tolerance<<4) & 0xF0) | ((sig_absolute_y_axis_tolerance>>19)&0x0F);
00061       *(outbuffer + offset++) = (exp_absolute_y_axis_tolerance>>4) & 0x7F;
00062       if(this->absolute_y_axis_tolerance < 0) *(outbuffer + offset -1) |= 0x80;
00063       int32_t * val_absolute_z_axis_tolerance = (int32_t *) &(this->absolute_z_axis_tolerance);
00064       int32_t exp_absolute_z_axis_tolerance = (((*val_absolute_z_axis_tolerance)>>23)&255);
00065       if(exp_absolute_z_axis_tolerance != 0)
00066         exp_absolute_z_axis_tolerance += 1023-127;
00067       int32_t sig_absolute_z_axis_tolerance = *val_absolute_z_axis_tolerance;
00068       *(outbuffer + offset++) = 0;
00069       *(outbuffer + offset++) = 0;
00070       *(outbuffer + offset++) = 0;
00071       *(outbuffer + offset++) = (sig_absolute_z_axis_tolerance<<5) & 0xff;
00072       *(outbuffer + offset++) = (sig_absolute_z_axis_tolerance>>3) & 0xff;
00073       *(outbuffer + offset++) = (sig_absolute_z_axis_tolerance>>11) & 0xff;
00074       *(outbuffer + offset++) = ((exp_absolute_z_axis_tolerance<<4) & 0xF0) | ((sig_absolute_z_axis_tolerance>>19)&0x0F);
00075       *(outbuffer + offset++) = (exp_absolute_z_axis_tolerance>>4) & 0x7F;
00076       if(this->absolute_z_axis_tolerance < 0) *(outbuffer + offset -1) |= 0x80;
00077       int32_t * val_weight = (int32_t *) &(this->weight);
00078       int32_t exp_weight = (((*val_weight)>>23)&255);
00079       if(exp_weight != 0)
00080         exp_weight += 1023-127;
00081       int32_t sig_weight = *val_weight;
00082       *(outbuffer + offset++) = 0;
00083       *(outbuffer + offset++) = 0;
00084       *(outbuffer + offset++) = 0;
00085       *(outbuffer + offset++) = (sig_weight<<5) & 0xff;
00086       *(outbuffer + offset++) = (sig_weight>>3) & 0xff;
00087       *(outbuffer + offset++) = (sig_weight>>11) & 0xff;
00088       *(outbuffer + offset++) = ((exp_weight<<4) & 0xF0) | ((sig_weight>>19)&0x0F);
00089       *(outbuffer + offset++) = (exp_weight>>4) & 0x7F;
00090       if(this->weight < 0) *(outbuffer + offset -1) |= 0x80;
00091       return offset;
00092     }
00093 
00094     virtual int deserialize(unsigned char *inbuffer)
00095     {
00096       int offset = 0;
00097       offset += this->header.deserialize(inbuffer + offset);
00098       offset += this->orientation.deserialize(inbuffer + offset);
00099       uint32_t length_link_name;
00100       memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
00101       offset += 4;
00102       for(unsigned int k= offset; k< offset+length_link_name; ++k){
00103           inbuffer[k-1]=inbuffer[k];
00104       }
00105       inbuffer[offset+length_link_name-1]=0;
00106       this->link_name = (char *)(inbuffer + offset-1);
00107       offset += length_link_name;
00108       uint32_t * val_absolute_x_axis_tolerance = (uint32_t*) &(this->absolute_x_axis_tolerance);
00109       offset += 3;
00110       *val_absolute_x_axis_tolerance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00111       *val_absolute_x_axis_tolerance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00112       *val_absolute_x_axis_tolerance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00113       *val_absolute_x_axis_tolerance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00114       uint32_t exp_absolute_x_axis_tolerance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00115       exp_absolute_x_axis_tolerance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00116       if(exp_absolute_x_axis_tolerance !=0)
00117         *val_absolute_x_axis_tolerance |= ((exp_absolute_x_axis_tolerance)-1023+127)<<23;
00118       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->absolute_x_axis_tolerance = -this->absolute_x_axis_tolerance;
00119       uint32_t * val_absolute_y_axis_tolerance = (uint32_t*) &(this->absolute_y_axis_tolerance);
00120       offset += 3;
00121       *val_absolute_y_axis_tolerance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00122       *val_absolute_y_axis_tolerance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00123       *val_absolute_y_axis_tolerance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00124       *val_absolute_y_axis_tolerance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00125       uint32_t exp_absolute_y_axis_tolerance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00126       exp_absolute_y_axis_tolerance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00127       if(exp_absolute_y_axis_tolerance !=0)
00128         *val_absolute_y_axis_tolerance |= ((exp_absolute_y_axis_tolerance)-1023+127)<<23;
00129       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->absolute_y_axis_tolerance = -this->absolute_y_axis_tolerance;
00130       uint32_t * val_absolute_z_axis_tolerance = (uint32_t*) &(this->absolute_z_axis_tolerance);
00131       offset += 3;
00132       *val_absolute_z_axis_tolerance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00133       *val_absolute_z_axis_tolerance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00134       *val_absolute_z_axis_tolerance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00135       *val_absolute_z_axis_tolerance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00136       uint32_t exp_absolute_z_axis_tolerance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00137       exp_absolute_z_axis_tolerance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00138       if(exp_absolute_z_axis_tolerance !=0)
00139         *val_absolute_z_axis_tolerance |= ((exp_absolute_z_axis_tolerance)-1023+127)<<23;
00140       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->absolute_z_axis_tolerance = -this->absolute_z_axis_tolerance;
00141       uint32_t * val_weight = (uint32_t*) &(this->weight);
00142       offset += 3;
00143       *val_weight = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00144       *val_weight |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00145       *val_weight |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00146       *val_weight |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00147       uint32_t exp_weight = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00148       exp_weight |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00149       if(exp_weight !=0)
00150         *val_weight |= ((exp_weight)-1023+127)<<23;
00151       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->weight = -this->weight;
00152      return offset;
00153     }
00154 
00155     const char * getType(){ return "moveit_msgs/OrientationConstraint"; };
00156     const char * getMD5(){ return "ab5cefb9bc4c0089620f5eb4caf4e59a"; };
00157 
00158   };
00159 
00160 }
00161 #endif


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