00001 #ifndef _ROS_manipulation_msgs_GraspPlanningFeedback_h 00002 #define _ROS_manipulation_msgs_GraspPlanningFeedback_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "manipulation_msgs/Grasp.h" 00009 00010 namespace manipulation_msgs 00011 { 00012 00013 class GraspPlanningFeedback : public ros::Msg 00014 { 00015 public: 00016 uint8_t grasps_length; 00017 manipulation_msgs::Grasp st_grasps; 00018 manipulation_msgs::Grasp * grasps; 00019 00020 virtual int serialize(unsigned char *outbuffer) const 00021 { 00022 int offset = 0; 00023 *(outbuffer + offset++) = grasps_length; 00024 *(outbuffer + offset++) = 0; 00025 *(outbuffer + offset++) = 0; 00026 *(outbuffer + offset++) = 0; 00027 for( uint8_t i = 0; i < grasps_length; i++){ 00028 offset += this->grasps[i].serialize(outbuffer + offset); 00029 } 00030 return offset; 00031 } 00032 00033 virtual int deserialize(unsigned char *inbuffer) 00034 { 00035 int offset = 0; 00036 uint8_t grasps_lengthT = *(inbuffer + offset++); 00037 if(grasps_lengthT > grasps_length) 00038 this->grasps = (manipulation_msgs::Grasp*)realloc(this->grasps, grasps_lengthT * sizeof(manipulation_msgs::Grasp)); 00039 offset += 3; 00040 grasps_length = grasps_lengthT; 00041 for( uint8_t i = 0; i < grasps_length; i++){ 00042 offset += this->st_grasps.deserialize(inbuffer + offset); 00043 memcpy( &(this->grasps[i]), &(this->st_grasps), sizeof(manipulation_msgs::Grasp)); 00044 } 00045 return offset; 00046 } 00047 00048 const char * getType(){ return "manipulation_msgs/GraspPlanningFeedback"; }; 00049 const char * getMD5(){ return "0b493f83ef98679f05dc681205fbe54c"; }; 00050 00051 }; 00052 00053 } 00054 #endif