Go to the documentation of this file.00001 #ifndef _ROS_moveit_msgs_PlaceLocation_h
00002 #define _ROS_moveit_msgs_PlaceLocation_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "trajectory_msgs/JointTrajectory.h"
00009 #include "geometry_msgs/PoseStamped.h"
00010 #include "moveit_msgs/GripperTranslation.h"
00011
00012 namespace moveit_msgs
00013 {
00014
00015 class PlaceLocation : public ros::Msg
00016 {
00017 public:
00018 const char* id;
00019 trajectory_msgs::JointTrajectory post_place_posture;
00020 geometry_msgs::PoseStamped place_pose;
00021 moveit_msgs::GripperTranslation pre_place_approach;
00022 moveit_msgs::GripperTranslation post_place_retreat;
00023 uint8_t allowed_touch_objects_length;
00024 char* st_allowed_touch_objects;
00025 char* * allowed_touch_objects;
00026
00027 virtual int serialize(unsigned char *outbuffer) const
00028 {
00029 int offset = 0;
00030 uint32_t length_id = strlen(this->id);
00031 memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
00032 offset += 4;
00033 memcpy(outbuffer + offset, this->id, length_id);
00034 offset += length_id;
00035 offset += this->post_place_posture.serialize(outbuffer + offset);
00036 offset += this->place_pose.serialize(outbuffer + offset);
00037 offset += this->pre_place_approach.serialize(outbuffer + offset);
00038 offset += this->post_place_retreat.serialize(outbuffer + offset);
00039 *(outbuffer + offset++) = allowed_touch_objects_length;
00040 *(outbuffer + offset++) = 0;
00041 *(outbuffer + offset++) = 0;
00042 *(outbuffer + offset++) = 0;
00043 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
00044 uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]);
00045 memcpy(outbuffer + offset, &length_allowed_touch_objectsi, sizeof(uint32_t));
00046 offset += 4;
00047 memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi);
00048 offset += length_allowed_touch_objectsi;
00049 }
00050 return offset;
00051 }
00052
00053 virtual int deserialize(unsigned char *inbuffer)
00054 {
00055 int offset = 0;
00056 uint32_t length_id;
00057 memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
00058 offset += 4;
00059 for(unsigned int k= offset; k< offset+length_id; ++k){
00060 inbuffer[k-1]=inbuffer[k];
00061 }
00062 inbuffer[offset+length_id-1]=0;
00063 this->id = (char *)(inbuffer + offset-1);
00064 offset += length_id;
00065 offset += this->post_place_posture.deserialize(inbuffer + offset);
00066 offset += this->place_pose.deserialize(inbuffer + offset);
00067 offset += this->pre_place_approach.deserialize(inbuffer + offset);
00068 offset += this->post_place_retreat.deserialize(inbuffer + offset);
00069 uint8_t allowed_touch_objects_lengthT = *(inbuffer + offset++);
00070 if(allowed_touch_objects_lengthT > allowed_touch_objects_length)
00071 this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*));
00072 offset += 3;
00073 allowed_touch_objects_length = allowed_touch_objects_lengthT;
00074 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
00075 uint32_t length_st_allowed_touch_objects;
00076 memcpy(&length_st_allowed_touch_objects, (inbuffer + offset), sizeof(uint32_t));
00077 offset += 4;
00078 for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){
00079 inbuffer[k-1]=inbuffer[k];
00080 }
00081 inbuffer[offset+length_st_allowed_touch_objects-1]=0;
00082 this->st_allowed_touch_objects = (char *)(inbuffer + offset-1);
00083 offset += length_st_allowed_touch_objects;
00084 memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*));
00085 }
00086 return offset;
00087 }
00088
00089 const char * getType(){ return "moveit_msgs/PlaceLocation"; };
00090 const char * getMD5(){ return "f3dbcaca40fb29ede2af78b3e1831128"; };
00091
00092 };
00093
00094 }
00095 #endif