MotionPlanRequest.h
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00001 #ifndef _ROS_moveit_msgs_MotionPlanRequest_h
00002 #define _ROS_moveit_msgs_MotionPlanRequest_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/WorkspaceParameters.h"
00009 #include "moveit_msgs/RobotState.h"
00010 #include "moveit_msgs/Constraints.h"
00011 #include "moveit_msgs/TrajectoryConstraints.h"
00012 
00013 namespace moveit_msgs
00014 {
00015 
00016   class MotionPlanRequest : public ros::Msg
00017   {
00018     public:
00019       moveit_msgs::WorkspaceParameters workspace_parameters;
00020       moveit_msgs::RobotState start_state;
00021       uint8_t goal_constraints_length;
00022       moveit_msgs::Constraints st_goal_constraints;
00023       moveit_msgs::Constraints * goal_constraints;
00024       moveit_msgs::Constraints path_constraints;
00025       moveit_msgs::TrajectoryConstraints trajectory_constraints;
00026       const char* planner_id;
00027       const char* group_name;
00028       int32_t num_planning_attempts;
00029       float allowed_planning_time;
00030 
00031     virtual int serialize(unsigned char *outbuffer) const
00032     {
00033       int offset = 0;
00034       offset += this->workspace_parameters.serialize(outbuffer + offset);
00035       offset += this->start_state.serialize(outbuffer + offset);
00036       *(outbuffer + offset++) = goal_constraints_length;
00037       *(outbuffer + offset++) = 0;
00038       *(outbuffer + offset++) = 0;
00039       *(outbuffer + offset++) = 0;
00040       for( uint8_t i = 0; i < goal_constraints_length; i++){
00041       offset += this->goal_constraints[i].serialize(outbuffer + offset);
00042       }
00043       offset += this->path_constraints.serialize(outbuffer + offset);
00044       offset += this->trajectory_constraints.serialize(outbuffer + offset);
00045       uint32_t length_planner_id = strlen(this->planner_id);
00046       memcpy(outbuffer + offset, &length_planner_id, sizeof(uint32_t));
00047       offset += 4;
00048       memcpy(outbuffer + offset, this->planner_id, length_planner_id);
00049       offset += length_planner_id;
00050       uint32_t length_group_name = strlen(this->group_name);
00051       memcpy(outbuffer + offset, &length_group_name, sizeof(uint32_t));
00052       offset += 4;
00053       memcpy(outbuffer + offset, this->group_name, length_group_name);
00054       offset += length_group_name;
00055       union {
00056         int32_t real;
00057         uint32_t base;
00058       } u_num_planning_attempts;
00059       u_num_planning_attempts.real = this->num_planning_attempts;
00060       *(outbuffer + offset + 0) = (u_num_planning_attempts.base >> (8 * 0)) & 0xFF;
00061       *(outbuffer + offset + 1) = (u_num_planning_attempts.base >> (8 * 1)) & 0xFF;
00062       *(outbuffer + offset + 2) = (u_num_planning_attempts.base >> (8 * 2)) & 0xFF;
00063       *(outbuffer + offset + 3) = (u_num_planning_attempts.base >> (8 * 3)) & 0xFF;
00064       offset += sizeof(this->num_planning_attempts);
00065       int32_t * val_allowed_planning_time = (int32_t *) &(this->allowed_planning_time);
00066       int32_t exp_allowed_planning_time = (((*val_allowed_planning_time)>>23)&255);
00067       if(exp_allowed_planning_time != 0)
00068         exp_allowed_planning_time += 1023-127;
00069       int32_t sig_allowed_planning_time = *val_allowed_planning_time;
00070       *(outbuffer + offset++) = 0;
00071       *(outbuffer + offset++) = 0;
00072       *(outbuffer + offset++) = 0;
00073       *(outbuffer + offset++) = (sig_allowed_planning_time<<5) & 0xff;
00074       *(outbuffer + offset++) = (sig_allowed_planning_time>>3) & 0xff;
00075       *(outbuffer + offset++) = (sig_allowed_planning_time>>11) & 0xff;
00076       *(outbuffer + offset++) = ((exp_allowed_planning_time<<4) & 0xF0) | ((sig_allowed_planning_time>>19)&0x0F);
00077       *(outbuffer + offset++) = (exp_allowed_planning_time>>4) & 0x7F;
00078       if(this->allowed_planning_time < 0) *(outbuffer + offset -1) |= 0x80;
00079       return offset;
00080     }
00081 
00082     virtual int deserialize(unsigned char *inbuffer)
00083     {
00084       int offset = 0;
00085       offset += this->workspace_parameters.deserialize(inbuffer + offset);
00086       offset += this->start_state.deserialize(inbuffer + offset);
00087       uint8_t goal_constraints_lengthT = *(inbuffer + offset++);
00088       if(goal_constraints_lengthT > goal_constraints_length)
00089         this->goal_constraints = (moveit_msgs::Constraints*)realloc(this->goal_constraints, goal_constraints_lengthT * sizeof(moveit_msgs::Constraints));
00090       offset += 3;
00091       goal_constraints_length = goal_constraints_lengthT;
00092       for( uint8_t i = 0; i < goal_constraints_length; i++){
00093       offset += this->st_goal_constraints.deserialize(inbuffer + offset);
00094         memcpy( &(this->goal_constraints[i]), &(this->st_goal_constraints), sizeof(moveit_msgs::Constraints));
00095       }
00096       offset += this->path_constraints.deserialize(inbuffer + offset);
00097       offset += this->trajectory_constraints.deserialize(inbuffer + offset);
00098       uint32_t length_planner_id;
00099       memcpy(&length_planner_id, (inbuffer + offset), sizeof(uint32_t));
00100       offset += 4;
00101       for(unsigned int k= offset; k< offset+length_planner_id; ++k){
00102           inbuffer[k-1]=inbuffer[k];
00103       }
00104       inbuffer[offset+length_planner_id-1]=0;
00105       this->planner_id = (char *)(inbuffer + offset-1);
00106       offset += length_planner_id;
00107       uint32_t length_group_name;
00108       memcpy(&length_group_name, (inbuffer + offset), sizeof(uint32_t));
00109       offset += 4;
00110       for(unsigned int k= offset; k< offset+length_group_name; ++k){
00111           inbuffer[k-1]=inbuffer[k];
00112       }
00113       inbuffer[offset+length_group_name-1]=0;
00114       this->group_name = (char *)(inbuffer + offset-1);
00115       offset += length_group_name;
00116       union {
00117         int32_t real;
00118         uint32_t base;
00119       } u_num_planning_attempts;
00120       u_num_planning_attempts.base = 0;
00121       u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00122       u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00123       u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00124       u_num_planning_attempts.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00125       this->num_planning_attempts = u_num_planning_attempts.real;
00126       offset += sizeof(this->num_planning_attempts);
00127       uint32_t * val_allowed_planning_time = (uint32_t*) &(this->allowed_planning_time);
00128       offset += 3;
00129       *val_allowed_planning_time = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00130       *val_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00131       *val_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00132       *val_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00133       uint32_t exp_allowed_planning_time = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00134       exp_allowed_planning_time |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00135       if(exp_allowed_planning_time !=0)
00136         *val_allowed_planning_time |= ((exp_allowed_planning_time)-1023+127)<<23;
00137       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->allowed_planning_time = -this->allowed_planning_time;
00138      return offset;
00139     }
00140 
00141     const char * getType(){ return "moveit_msgs/MotionPlanRequest"; };
00142     const char * getMD5(){ return "7cd790e04c3a55f6742ec387a72a02d6"; };
00143 
00144   };
00145 
00146 }
00147 #endif


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