Go to the documentation of this file.00001 #ifndef _ROS_moveit_msgs_CollisionObject_h
00002 #define _ROS_moveit_msgs_CollisionObject_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 "object_recognition_msgs/ObjectType.h"
00010 #include "shape_msgs/SolidPrimitive.h"
00011 #include "geometry_msgs/Pose.h"
00012 #include "shape_msgs/Mesh.h"
00013 #include "shape_msgs/Plane.h"
00014
00015 namespace moveit_msgs
00016 {
00017
00018 class CollisionObject : public ros::Msg
00019 {
00020 public:
00021 std_msgs::Header header;
00022 const char* id;
00023 object_recognition_msgs::ObjectType type;
00024 uint8_t primitives_length;
00025 shape_msgs::SolidPrimitive st_primitives;
00026 shape_msgs::SolidPrimitive * primitives;
00027 uint8_t primitive_poses_length;
00028 geometry_msgs::Pose st_primitive_poses;
00029 geometry_msgs::Pose * primitive_poses;
00030 uint8_t meshes_length;
00031 shape_msgs::Mesh st_meshes;
00032 shape_msgs::Mesh * meshes;
00033 uint8_t mesh_poses_length;
00034 geometry_msgs::Pose st_mesh_poses;
00035 geometry_msgs::Pose * mesh_poses;
00036 uint8_t planes_length;
00037 shape_msgs::Plane st_planes;
00038 shape_msgs::Plane * planes;
00039 uint8_t plane_poses_length;
00040 geometry_msgs::Pose st_plane_poses;
00041 geometry_msgs::Pose * plane_poses;
00042 int8_t operation;
00043 enum { ADD = 0 };
00044 enum { REMOVE = 1 };
00045 enum { APPEND = 2 };
00046 enum { MOVE = 3 };
00047
00048 virtual int serialize(unsigned char *outbuffer) const
00049 {
00050 int offset = 0;
00051 offset += this->header.serialize(outbuffer + offset);
00052 uint32_t length_id = strlen(this->id);
00053 memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
00054 offset += 4;
00055 memcpy(outbuffer + offset, this->id, length_id);
00056 offset += length_id;
00057 offset += this->type.serialize(outbuffer + offset);
00058 *(outbuffer + offset++) = primitives_length;
00059 *(outbuffer + offset++) = 0;
00060 *(outbuffer + offset++) = 0;
00061 *(outbuffer + offset++) = 0;
00062 for( uint8_t i = 0; i < primitives_length; i++){
00063 offset += this->primitives[i].serialize(outbuffer + offset);
00064 }
00065 *(outbuffer + offset++) = primitive_poses_length;
00066 *(outbuffer + offset++) = 0;
00067 *(outbuffer + offset++) = 0;
00068 *(outbuffer + offset++) = 0;
00069 for( uint8_t i = 0; i < primitive_poses_length; i++){
00070 offset += this->primitive_poses[i].serialize(outbuffer + offset);
00071 }
00072 *(outbuffer + offset++) = meshes_length;
00073 *(outbuffer + offset++) = 0;
00074 *(outbuffer + offset++) = 0;
00075 *(outbuffer + offset++) = 0;
00076 for( uint8_t i = 0; i < meshes_length; i++){
00077 offset += this->meshes[i].serialize(outbuffer + offset);
00078 }
00079 *(outbuffer + offset++) = mesh_poses_length;
00080 *(outbuffer + offset++) = 0;
00081 *(outbuffer + offset++) = 0;
00082 *(outbuffer + offset++) = 0;
00083 for( uint8_t i = 0; i < mesh_poses_length; i++){
00084 offset += this->mesh_poses[i].serialize(outbuffer + offset);
00085 }
00086 *(outbuffer + offset++) = planes_length;
00087 *(outbuffer + offset++) = 0;
00088 *(outbuffer + offset++) = 0;
00089 *(outbuffer + offset++) = 0;
00090 for( uint8_t i = 0; i < planes_length; i++){
00091 offset += this->planes[i].serialize(outbuffer + offset);
00092 }
00093 *(outbuffer + offset++) = plane_poses_length;
00094 *(outbuffer + offset++) = 0;
00095 *(outbuffer + offset++) = 0;
00096 *(outbuffer + offset++) = 0;
00097 for( uint8_t i = 0; i < plane_poses_length; i++){
00098 offset += this->plane_poses[i].serialize(outbuffer + offset);
00099 }
00100 union {
00101 int8_t real;
00102 uint8_t base;
00103 } u_operation;
00104 u_operation.real = this->operation;
00105 *(outbuffer + offset + 0) = (u_operation.base >> (8 * 0)) & 0xFF;
00106 offset += sizeof(this->operation);
00107 return offset;
00108 }
00109
00110 virtual int deserialize(unsigned char *inbuffer)
00111 {
00112 int offset = 0;
00113 offset += this->header.deserialize(inbuffer + offset);
00114 uint32_t length_id;
00115 memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
00116 offset += 4;
00117 for(unsigned int k= offset; k< offset+length_id; ++k){
00118 inbuffer[k-1]=inbuffer[k];
00119 }
00120 inbuffer[offset+length_id-1]=0;
00121 this->id = (char *)(inbuffer + offset-1);
00122 offset += length_id;
00123 offset += this->type.deserialize(inbuffer + offset);
00124 uint8_t primitives_lengthT = *(inbuffer + offset++);
00125 if(primitives_lengthT > primitives_length)
00126 this->primitives = (shape_msgs::SolidPrimitive*)realloc(this->primitives, primitives_lengthT * sizeof(shape_msgs::SolidPrimitive));
00127 offset += 3;
00128 primitives_length = primitives_lengthT;
00129 for( uint8_t i = 0; i < primitives_length; i++){
00130 offset += this->st_primitives.deserialize(inbuffer + offset);
00131 memcpy( &(this->primitives[i]), &(this->st_primitives), sizeof(shape_msgs::SolidPrimitive));
00132 }
00133 uint8_t primitive_poses_lengthT = *(inbuffer + offset++);
00134 if(primitive_poses_lengthT > primitive_poses_length)
00135 this->primitive_poses = (geometry_msgs::Pose*)realloc(this->primitive_poses, primitive_poses_lengthT * sizeof(geometry_msgs::Pose));
00136 offset += 3;
00137 primitive_poses_length = primitive_poses_lengthT;
00138 for( uint8_t i = 0; i < primitive_poses_length; i++){
00139 offset += this->st_primitive_poses.deserialize(inbuffer + offset);
00140 memcpy( &(this->primitive_poses[i]), &(this->st_primitive_poses), sizeof(geometry_msgs::Pose));
00141 }
00142 uint8_t meshes_lengthT = *(inbuffer + offset++);
00143 if(meshes_lengthT > meshes_length)
00144 this->meshes = (shape_msgs::Mesh*)realloc(this->meshes, meshes_lengthT * sizeof(shape_msgs::Mesh));
00145 offset += 3;
00146 meshes_length = meshes_lengthT;
00147 for( uint8_t i = 0; i < meshes_length; i++){
00148 offset += this->st_meshes.deserialize(inbuffer + offset);
00149 memcpy( &(this->meshes[i]), &(this->st_meshes), sizeof(shape_msgs::Mesh));
00150 }
00151 uint8_t mesh_poses_lengthT = *(inbuffer + offset++);
00152 if(mesh_poses_lengthT > mesh_poses_length)
00153 this->mesh_poses = (geometry_msgs::Pose*)realloc(this->mesh_poses, mesh_poses_lengthT * sizeof(geometry_msgs::Pose));
00154 offset += 3;
00155 mesh_poses_length = mesh_poses_lengthT;
00156 for( uint8_t i = 0; i < mesh_poses_length; i++){
00157 offset += this->st_mesh_poses.deserialize(inbuffer + offset);
00158 memcpy( &(this->mesh_poses[i]), &(this->st_mesh_poses), sizeof(geometry_msgs::Pose));
00159 }
00160 uint8_t planes_lengthT = *(inbuffer + offset++);
00161 if(planes_lengthT > planes_length)
00162 this->planes = (shape_msgs::Plane*)realloc(this->planes, planes_lengthT * sizeof(shape_msgs::Plane));
00163 offset += 3;
00164 planes_length = planes_lengthT;
00165 for( uint8_t i = 0; i < planes_length; i++){
00166 offset += this->st_planes.deserialize(inbuffer + offset);
00167 memcpy( &(this->planes[i]), &(this->st_planes), sizeof(shape_msgs::Plane));
00168 }
00169 uint8_t plane_poses_lengthT = *(inbuffer + offset++);
00170 if(plane_poses_lengthT > plane_poses_length)
00171 this->plane_poses = (geometry_msgs::Pose*)realloc(this->plane_poses, plane_poses_lengthT * sizeof(geometry_msgs::Pose));
00172 offset += 3;
00173 plane_poses_length = plane_poses_lengthT;
00174 for( uint8_t i = 0; i < plane_poses_length; i++){
00175 offset += this->st_plane_poses.deserialize(inbuffer + offset);
00176 memcpy( &(this->plane_poses[i]), &(this->st_plane_poses), sizeof(geometry_msgs::Pose));
00177 }
00178 union {
00179 int8_t real;
00180 uint8_t base;
00181 } u_operation;
00182 u_operation.base = 0;
00183 u_operation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00184 this->operation = u_operation.real;
00185 offset += sizeof(this->operation);
00186 return offset;
00187 }
00188
00189 const char * getType(){ return "moveit_msgs/CollisionObject"; };
00190 const char * getMD5(){ return "568a161b26dc46c54a5a07621ce82cf3"; };
00191
00192 };
00193
00194 }
00195 #endif