Go to the documentation of this file.00001 #ifndef _ROS_manipulation_msgs_GraspPlanningGoal_h
00002 #define _ROS_manipulation_msgs_GraspPlanningGoal_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "manipulation_msgs/GraspableObject.h"
00009 #include "manipulation_msgs/Grasp.h"
00010
00011 namespace manipulation_msgs
00012 {
00013
00014 class GraspPlanningGoal : public ros::Msg
00015 {
00016 public:
00017 const char* arm_name;
00018 manipulation_msgs::GraspableObject target;
00019 const char* collision_object_name;
00020 const char* collision_support_surface_name;
00021 uint8_t grasps_to_evaluate_length;
00022 manipulation_msgs::Grasp st_grasps_to_evaluate;
00023 manipulation_msgs::Grasp * grasps_to_evaluate;
00024 uint8_t movable_obstacles_length;
00025 manipulation_msgs::GraspableObject st_movable_obstacles;
00026 manipulation_msgs::GraspableObject * movable_obstacles;
00027
00028 virtual int serialize(unsigned char *outbuffer) const
00029 {
00030 int offset = 0;
00031 uint32_t length_arm_name = strlen(this->arm_name);
00032 memcpy(outbuffer + offset, &length_arm_name, sizeof(uint32_t));
00033 offset += 4;
00034 memcpy(outbuffer + offset, this->arm_name, length_arm_name);
00035 offset += length_arm_name;
00036 offset += this->target.serialize(outbuffer + offset);
00037 uint32_t length_collision_object_name = strlen(this->collision_object_name);
00038 memcpy(outbuffer + offset, &length_collision_object_name, sizeof(uint32_t));
00039 offset += 4;
00040 memcpy(outbuffer + offset, this->collision_object_name, length_collision_object_name);
00041 offset += length_collision_object_name;
00042 uint32_t length_collision_support_surface_name = strlen(this->collision_support_surface_name);
00043 memcpy(outbuffer + offset, &length_collision_support_surface_name, sizeof(uint32_t));
00044 offset += 4;
00045 memcpy(outbuffer + offset, this->collision_support_surface_name, length_collision_support_surface_name);
00046 offset += length_collision_support_surface_name;
00047 *(outbuffer + offset++) = grasps_to_evaluate_length;
00048 *(outbuffer + offset++) = 0;
00049 *(outbuffer + offset++) = 0;
00050 *(outbuffer + offset++) = 0;
00051 for( uint8_t i = 0; i < grasps_to_evaluate_length; i++){
00052 offset += this->grasps_to_evaluate[i].serialize(outbuffer + offset);
00053 }
00054 *(outbuffer + offset++) = movable_obstacles_length;
00055 *(outbuffer + offset++) = 0;
00056 *(outbuffer + offset++) = 0;
00057 *(outbuffer + offset++) = 0;
00058 for( uint8_t i = 0; i < movable_obstacles_length; i++){
00059 offset += this->movable_obstacles[i].serialize(outbuffer + offset);
00060 }
00061 return offset;
00062 }
00063
00064 virtual int deserialize(unsigned char *inbuffer)
00065 {
00066 int offset = 0;
00067 uint32_t length_arm_name;
00068 memcpy(&length_arm_name, (inbuffer + offset), sizeof(uint32_t));
00069 offset += 4;
00070 for(unsigned int k= offset; k< offset+length_arm_name; ++k){
00071 inbuffer[k-1]=inbuffer[k];
00072 }
00073 inbuffer[offset+length_arm_name-1]=0;
00074 this->arm_name = (char *)(inbuffer + offset-1);
00075 offset += length_arm_name;
00076 offset += this->target.deserialize(inbuffer + offset);
00077 uint32_t length_collision_object_name;
00078 memcpy(&length_collision_object_name, (inbuffer + offset), sizeof(uint32_t));
00079 offset += 4;
00080 for(unsigned int k= offset; k< offset+length_collision_object_name; ++k){
00081 inbuffer[k-1]=inbuffer[k];
00082 }
00083 inbuffer[offset+length_collision_object_name-1]=0;
00084 this->collision_object_name = (char *)(inbuffer + offset-1);
00085 offset += length_collision_object_name;
00086 uint32_t length_collision_support_surface_name;
00087 memcpy(&length_collision_support_surface_name, (inbuffer + offset), sizeof(uint32_t));
00088 offset += 4;
00089 for(unsigned int k= offset; k< offset+length_collision_support_surface_name; ++k){
00090 inbuffer[k-1]=inbuffer[k];
00091 }
00092 inbuffer[offset+length_collision_support_surface_name-1]=0;
00093 this->collision_support_surface_name = (char *)(inbuffer + offset-1);
00094 offset += length_collision_support_surface_name;
00095 uint8_t grasps_to_evaluate_lengthT = *(inbuffer + offset++);
00096 if(grasps_to_evaluate_lengthT > grasps_to_evaluate_length)
00097 this->grasps_to_evaluate = (manipulation_msgs::Grasp*)realloc(this->grasps_to_evaluate, grasps_to_evaluate_lengthT * sizeof(manipulation_msgs::Grasp));
00098 offset += 3;
00099 grasps_to_evaluate_length = grasps_to_evaluate_lengthT;
00100 for( uint8_t i = 0; i < grasps_to_evaluate_length; i++){
00101 offset += this->st_grasps_to_evaluate.deserialize(inbuffer + offset);
00102 memcpy( &(this->grasps_to_evaluate[i]), &(this->st_grasps_to_evaluate), sizeof(manipulation_msgs::Grasp));
00103 }
00104 uint8_t movable_obstacles_lengthT = *(inbuffer + offset++);
00105 if(movable_obstacles_lengthT > movable_obstacles_length)
00106 this->movable_obstacles = (manipulation_msgs::GraspableObject*)realloc(this->movable_obstacles, movable_obstacles_lengthT * sizeof(manipulation_msgs::GraspableObject));
00107 offset += 3;
00108 movable_obstacles_length = movable_obstacles_lengthT;
00109 for( uint8_t i = 0; i < movable_obstacles_length; i++){
00110 offset += this->st_movable_obstacles.deserialize(inbuffer + offset);
00111 memcpy( &(this->movable_obstacles[i]), &(this->st_movable_obstacles), sizeof(manipulation_msgs::GraspableObject));
00112 }
00113 return offset;
00114 }
00115
00116 const char * getType(){ return "manipulation_msgs/GraspPlanningGoal"; };
00117 const char * getMD5(){ return "077dca08a07415d82d6ab047890161f4"; };
00118
00119 };
00120
00121 }
00122 #endif