Go to the documentation of this file.00001 #ifndef _ROS_moveit_msgs_PlannerInterfaceDescription_h
00002 #define _ROS_moveit_msgs_PlannerInterfaceDescription_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008
00009 namespace moveit_msgs
00010 {
00011
00012 class PlannerInterfaceDescription : public ros::Msg
00013 {
00014 public:
00015 const char* name;
00016 uint8_t planner_ids_length;
00017 char* st_planner_ids;
00018 char* * planner_ids;
00019
00020 virtual int serialize(unsigned char *outbuffer) const
00021 {
00022 int offset = 0;
00023 uint32_t length_name = strlen(this->name);
00024 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
00025 offset += 4;
00026 memcpy(outbuffer + offset, this->name, length_name);
00027 offset += length_name;
00028 *(outbuffer + offset++) = planner_ids_length;
00029 *(outbuffer + offset++) = 0;
00030 *(outbuffer + offset++) = 0;
00031 *(outbuffer + offset++) = 0;
00032 for( uint8_t i = 0; i < planner_ids_length; i++){
00033 uint32_t length_planner_idsi = strlen(this->planner_ids[i]);
00034 memcpy(outbuffer + offset, &length_planner_idsi, sizeof(uint32_t));
00035 offset += 4;
00036 memcpy(outbuffer + offset, this->planner_ids[i], length_planner_idsi);
00037 offset += length_planner_idsi;
00038 }
00039 return offset;
00040 }
00041
00042 virtual int deserialize(unsigned char *inbuffer)
00043 {
00044 int offset = 0;
00045 uint32_t length_name;
00046 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
00047 offset += 4;
00048 for(unsigned int k= offset; k< offset+length_name; ++k){
00049 inbuffer[k-1]=inbuffer[k];
00050 }
00051 inbuffer[offset+length_name-1]=0;
00052 this->name = (char *)(inbuffer + offset-1);
00053 offset += length_name;
00054 uint8_t planner_ids_lengthT = *(inbuffer + offset++);
00055 if(planner_ids_lengthT > planner_ids_length)
00056 this->planner_ids = (char**)realloc(this->planner_ids, planner_ids_lengthT * sizeof(char*));
00057 offset += 3;
00058 planner_ids_length = planner_ids_lengthT;
00059 for( uint8_t i = 0; i < planner_ids_length; i++){
00060 uint32_t length_st_planner_ids;
00061 memcpy(&length_st_planner_ids, (inbuffer + offset), sizeof(uint32_t));
00062 offset += 4;
00063 for(unsigned int k= offset; k< offset+length_st_planner_ids; ++k){
00064 inbuffer[k-1]=inbuffer[k];
00065 }
00066 inbuffer[offset+length_st_planner_ids-1]=0;
00067 this->st_planner_ids = (char *)(inbuffer + offset-1);
00068 offset += length_st_planner_ids;
00069 memcpy( &(this->planner_ids[i]), &(this->st_planner_ids), sizeof(char*));
00070 }
00071 return offset;
00072 }
00073
00074 const char * getType(){ return "moveit_msgs/PlannerInterfaceDescription"; };
00075 const char * getMD5(){ return "ea5f6e6129aa1b110ccda9900d2bf25e"; };
00076
00077 };
00078
00079 }
00080 #endif