Go to the documentation of this file.00001 #ifndef _ROS_moveit_msgs_PlaceGoal_h
00002 #define _ROS_moveit_msgs_PlaceGoal_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/PlaceLocation.h"
00009 #include "moveit_msgs/Constraints.h"
00010 #include "moveit_msgs/PlanningOptions.h"
00011
00012 namespace moveit_msgs
00013 {
00014
00015 class PlaceGoal : public ros::Msg
00016 {
00017 public:
00018 const char* group_name;
00019 const char* attached_object_name;
00020 uint8_t place_locations_length;
00021 moveit_msgs::PlaceLocation st_place_locations;
00022 moveit_msgs::PlaceLocation * place_locations;
00023 bool place_eef;
00024 const char* support_surface_name;
00025 bool allow_gripper_support_collision;
00026 moveit_msgs::Constraints path_constraints;
00027 const char* planner_id;
00028 uint8_t allowed_touch_objects_length;
00029 char* st_allowed_touch_objects;
00030 char* * allowed_touch_objects;
00031 float allowed_planning_time;
00032 moveit_msgs::PlanningOptions planning_options;
00033
00034 virtual int serialize(unsigned char *outbuffer) const
00035 {
00036 int offset = 0;
00037 uint32_t length_group_name = strlen(this->group_name);
00038 memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
00039 offset += 4;
00040 memcpy(outbuffer + offset, this->group_name, length_group_name);
00041 offset += length_group_name;
00042 uint32_t length_attached_object_name = strlen(this->attached_object_name);
00043 memcpy(outbuffer + offset, &length_attached_object_name, sizeof(uint32_t));
00044 offset += 4;
00045 memcpy(outbuffer + offset, this->attached_object_name, length_attached_object_name);
00046 offset += length_attached_object_name;
00047 *(outbuffer + offset++) = place_locations_length;
00048 *(outbuffer + offset++) = 0;
00049 *(outbuffer + offset++) = 0;
00050 *(outbuffer + offset++) = 0;
00051 for( uint8_t i = 0; i < place_locations_length; i++){
00052 offset += this->place_locations[i].serialize(outbuffer + offset);
00053 }
00054 union {
00055 bool real;
00056 uint8_t base;
00057 } u_place_eef;
00058 u_place_eef.real = this->place_eef;
00059 *(outbuffer + offset + 0) = (u_place_eef.base >> (8 * 0)) & 0xFF;
00060 offset += sizeof(this->place_eef);
00061 uint32_t length_support_surface_name = strlen(this->support_surface_name);
00062 memcpy(outbuffer + offset, &length_support_surface_name, sizeof(uint32_t));
00063 offset += 4;
00064 memcpy(outbuffer + offset, this->support_surface_name, length_support_surface_name);
00065 offset += length_support_surface_name;
00066 union {
00067 bool real;
00068 uint8_t base;
00069 } u_allow_gripper_support_collision;
00070 u_allow_gripper_support_collision.real = this->allow_gripper_support_collision;
00071 *(outbuffer + offset + 0) = (u_allow_gripper_support_collision.base >> (8 * 0)) & 0xFF;
00072 offset += sizeof(this->allow_gripper_support_collision);
00073 offset += this->path_constraints.serialize(outbuffer + offset);
00074 uint32_t length_planner_id = strlen(this->planner_id);
00075 memcpy(outbuffer + offset, &length_planner_id, sizeof(uint32_t));
00076 offset += 4;
00077 memcpy(outbuffer + offset, this->planner_id, length_planner_id);
00078 offset += length_planner_id;
00079 *(outbuffer + offset++) = allowed_touch_objects_length;
00080 *(outbuffer + offset++) = 0;
00081 *(outbuffer + offset++) = 0;
00082 *(outbuffer + offset++) = 0;
00083 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
00084 uint32_t length_allowed_touch_objectsi = strlen(this->allowed_touch_objects[i]);
00085 memcpy(outbuffer + offset, &length_allowed_touch_objectsi, sizeof(uint32_t));
00086 offset += 4;
00087 memcpy(outbuffer + offset, this->allowed_touch_objects[i], length_allowed_touch_objectsi);
00088 offset += length_allowed_touch_objectsi;
00089 }
00090 int32_t * val_allowed_planning_time = (int32_t *) &(this->allowed_planning_time);
00091 int32_t exp_allowed_planning_time = (((*val_allowed_planning_time)>>23)&255);
00092 if(exp_allowed_planning_time != 0)
00093 exp_allowed_planning_time += 1023-127;
00094 int32_t sig_allowed_planning_time = *val_allowed_planning_time;
00095 *(outbuffer + offset++) = 0;
00096 *(outbuffer + offset++) = 0;
00097 *(outbuffer + offset++) = 0;
00098 *(outbuffer + offset++) = (sig_allowed_planning_time<<5) & 0xff;
00099 *(outbuffer + offset++) = (sig_allowed_planning_time>>3) & 0xff;
00100 *(outbuffer + offset++) = (sig_allowed_planning_time>>11) & 0xff;
00101 *(outbuffer + offset++) = ((exp_allowed_planning_time<<4) & 0xF0) | ((sig_allowed_planning_time>>19)&0x0F);
00102 *(outbuffer + offset++) = (exp_allowed_planning_time>>4) & 0x7F;
00103 if(this->allowed_planning_time < 0) *(outbuffer + offset -1) |= 0x80;
00104 offset += this->planning_options.serialize(outbuffer + offset);
00105 return offset;
00106 }
00107
00108 virtual int deserialize(unsigned char *inbuffer)
00109 {
00110 int offset = 0;
00111 uint32_t length_group_name;
00112 memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
00113 offset += 4;
00114 for(unsigned int k= offset; k< offset+length_group_name; ++k){
00115 inbuffer[k-1]=inbuffer[k];
00116 }
00117 inbuffer[offset+length_group_name-1]=0;
00118 this->group_name = (char *)(inbuffer + offset-1);
00119 offset += length_group_name;
00120 uint32_t length_attached_object_name;
00121 memcpy(&length_attached_object_name, (inbuffer + offset), sizeof(uint32_t));
00122 offset += 4;
00123 for(unsigned int k= offset; k< offset+length_attached_object_name; ++k){
00124 inbuffer[k-1]=inbuffer[k];
00125 }
00126 inbuffer[offset+length_attached_object_name-1]=0;
00127 this->attached_object_name = (char *)(inbuffer + offset-1);
00128 offset += length_attached_object_name;
00129 uint8_t place_locations_lengthT = *(inbuffer + offset++);
00130 if(place_locations_lengthT > place_locations_length)
00131 this->place_locations = (moveit_msgs::PlaceLocation*)realloc(this->place_locations, place_locations_lengthT * sizeof(moveit_msgs::PlaceLocation));
00132 offset += 3;
00133 place_locations_length = place_locations_lengthT;
00134 for( uint8_t i = 0; i < place_locations_length; i++){
00135 offset += this->st_place_locations.deserialize(inbuffer + offset);
00136 memcpy( &(this->place_locations[i]), &(this->st_place_locations), sizeof(moveit_msgs::PlaceLocation));
00137 }
00138 union {
00139 bool real;
00140 uint8_t base;
00141 } u_place_eef;
00142 u_place_eef.base = 0;
00143 u_place_eef.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00144 this->place_eef = u_place_eef.real;
00145 offset += sizeof(this->place_eef);
00146 uint32_t length_support_surface_name;
00147 memcpy(&length_support_surface_name, (inbuffer + offset), sizeof(uint32_t));
00148 offset += 4;
00149 for(unsigned int k= offset; k< offset+length_support_surface_name; ++k){
00150 inbuffer[k-1]=inbuffer[k];
00151 }
00152 inbuffer[offset+length_support_surface_name-1]=0;
00153 this->support_surface_name = (char *)(inbuffer + offset-1);
00154 offset += length_support_surface_name;
00155 union {
00156 bool real;
00157 uint8_t base;
00158 } u_allow_gripper_support_collision;
00159 u_allow_gripper_support_collision.base = 0;
00160 u_allow_gripper_support_collision.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00161 this->allow_gripper_support_collision = u_allow_gripper_support_collision.real;
00162 offset += sizeof(this->allow_gripper_support_collision);
00163 offset += this->path_constraints.deserialize(inbuffer + offset);
00164 uint32_t length_planner_id;
00165 memcpy(&length_planner_id, (inbuffer + offset), sizeof(uint32_t));
00166 offset += 4;
00167 for(unsigned int k= offset; k< offset+length_planner_id; ++k){
00168 inbuffer[k-1]=inbuffer[k];
00169 }
00170 inbuffer[offset+length_planner_id-1]=0;
00171 this->planner_id = (char *)(inbuffer + offset-1);
00172 offset += length_planner_id;
00173 uint8_t allowed_touch_objects_lengthT = *(inbuffer + offset++);
00174 if(allowed_touch_objects_lengthT > allowed_touch_objects_length)
00175 this->allowed_touch_objects = (char**)realloc(this->allowed_touch_objects, allowed_touch_objects_lengthT * sizeof(char*));
00176 offset += 3;
00177 allowed_touch_objects_length = allowed_touch_objects_lengthT;
00178 for( uint8_t i = 0; i < allowed_touch_objects_length; i++){
00179 uint32_t length_st_allowed_touch_objects;
00180 memcpy(&length_st_allowed_touch_objects, (inbuffer + offset), sizeof(uint32_t));
00181 offset += 4;
00182 for(unsigned int k= offset; k< offset+length_st_allowed_touch_objects; ++k){
00183 inbuffer[k-1]=inbuffer[k];
00184 }
00185 inbuffer[offset+length_st_allowed_touch_objects-1]=0;
00186 this->st_allowed_touch_objects = (char *)(inbuffer + offset-1);
00187 offset += length_st_allowed_touch_objects;
00188 memcpy( &(this->allowed_touch_objects[i]), &(this->st_allowed_touch_objects), sizeof(char*));
00189 }
00190 uint32_t * val_allowed_planning_time = (uint32_t*) &(this->allowed_planning_time);
00191 offset += 3;
00192 *val_allowed_planning_time = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00193 *val_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00194 *val_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00195 *val_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00196 uint32_t exp_allowed_planning_time = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00197 exp_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00198 if(exp_allowed_planning_time !=0)
00199 *val_allowed_planning_time |= ((exp_allowed_planning_time)-1023+127)<<23;
00200 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->allowed_planning_time = -this->allowed_planning_time;
00201 offset += this->planning_options.deserialize(inbuffer + offset);
00202 return offset;
00203 }
00204
00205 const char * getType(){ return "moveit_msgs/PlaceGoal"; };
00206 const char * getMD5(){ return "e3f3e956e536ccd313fd8f23023f0a94"; };
00207
00208 };
00209
00210 }
00211 #endif