Go to the documentation of this file.00001 #ifndef _ROS_moveit_msgs_PlanningOptions_h
00002 #define _ROS_moveit_msgs_PlanningOptions_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "moveit_msgs/PlanningScene.h"
00009
00010 namespace moveit_msgs
00011 {
00012
00013 class PlanningOptions : public ros::Msg
00014 {
00015 public:
00016 moveit_msgs::PlanningScene planning_scene_diff;
00017 bool plan_only;
00018 bool look_around;
00019 int32_t look_around_attempts;
00020 float max_safe_execution_cost;
00021 bool replan;
00022 int32_t replan_attempts;
00023 float replan_delay;
00024
00025 virtual int serialize(unsigned char *outbuffer) const
00026 {
00027 int offset = 0;
00028 offset += this->planning_scene_diff.serialize(outbuffer + offset);
00029 union {
00030 bool real;
00031 uint8_t base;
00032 } u_plan_only;
00033 u_plan_only.real = this->plan_only;
00034 *(outbuffer + offset + 0) = (u_plan_only.base >> (8 * 0)) & 0xFF;
00035 offset += sizeof(this->plan_only);
00036 union {
00037 bool real;
00038 uint8_t base;
00039 } u_look_around;
00040 u_look_around.real = this->look_around;
00041 *(outbuffer + offset + 0) = (u_look_around.base >> (8 * 0)) & 0xFF;
00042 offset += sizeof(this->look_around);
00043 union {
00044 int32_t real;
00045 uint32_t base;
00046 } u_look_around_attempts;
00047 u_look_around_attempts.real = this->look_around_attempts;
00048 *(outbuffer + offset + 0) = (u_look_around_attempts.base >> (8 * 0)) & 0xFF;
00049 *(outbuffer + offset + 1) = (u_look_around_attempts.base >> (8 * 1)) & 0xFF;
00050 *(outbuffer + offset + 2) = (u_look_around_attempts.base >> (8 * 2)) & 0xFF;
00051 *(outbuffer + offset + 3) = (u_look_around_attempts.base >> (8 * 3)) & 0xFF;
00052 offset += sizeof(this->look_around_attempts);
00053 int32_t * val_max_safe_execution_cost = (int32_t *) &(this->max_safe_execution_cost);
00054 int32_t exp_max_safe_execution_cost = (((*val_max_safe_execution_cost)>>23)&255);
00055 if(exp_max_safe_execution_cost != 0)
00056 exp_max_safe_execution_cost += 1023-127;
00057 int32_t sig_max_safe_execution_cost = *val_max_safe_execution_cost;
00058 *(outbuffer + offset++) = 0;
00059 *(outbuffer + offset++) = 0;
00060 *(outbuffer + offset++) = 0;
00061 *(outbuffer + offset++) = (sig_max_safe_execution_cost<<5) & 0xff;
00062 *(outbuffer + offset++) = (sig_max_safe_execution_cost>>3) & 0xff;
00063 *(outbuffer + offset++) = (sig_max_safe_execution_cost>>11) & 0xff;
00064 *(outbuffer + offset++) = ((exp_max_safe_execution_cost<<4) & 0xF0) | ((sig_max_safe_execution_cost>>19)&0x0F);
00065 *(outbuffer + offset++) = (exp_max_safe_execution_cost>>4) & 0x7F;
00066 if(this->max_safe_execution_cost < 0) *(outbuffer + offset -1) |= 0x80;
00067 union {
00068 bool real;
00069 uint8_t base;
00070 } u_replan;
00071 u_replan.real = this->replan;
00072 *(outbuffer + offset + 0) = (u_replan.base >> (8 * 0)) & 0xFF;
00073 offset += sizeof(this->replan);
00074 union {
00075 int32_t real;
00076 uint32_t base;
00077 } u_replan_attempts;
00078 u_replan_attempts.real = this->replan_attempts;
00079 *(outbuffer + offset + 0) = (u_replan_attempts.base >> (8 * 0)) & 0xFF;
00080 *(outbuffer + offset + 1) = (u_replan_attempts.base >> (8 * 1)) & 0xFF;
00081 *(outbuffer + offset + 2) = (u_replan_attempts.base >> (8 * 2)) & 0xFF;
00082 *(outbuffer + offset + 3) = (u_replan_attempts.base >> (8 * 3)) & 0xFF;
00083 offset += sizeof(this->replan_attempts);
00084 int32_t * val_replan_delay = (int32_t *) &(this->replan_delay);
00085 int32_t exp_replan_delay = (((*val_replan_delay)>>23)&255);
00086 if(exp_replan_delay != 0)
00087 exp_replan_delay += 1023-127;
00088 int32_t sig_replan_delay = *val_replan_delay;
00089 *(outbuffer + offset++) = 0;
00090 *(outbuffer + offset++) = 0;
00091 *(outbuffer + offset++) = 0;
00092 *(outbuffer + offset++) = (sig_replan_delay<<5) & 0xff;
00093 *(outbuffer + offset++) = (sig_replan_delay>>3) & 0xff;
00094 *(outbuffer + offset++) = (sig_replan_delay>>11) & 0xff;
00095 *(outbuffer + offset++) = ((exp_replan_delay<<4) & 0xF0) | ((sig_replan_delay>>19)&0x0F);
00096 *(outbuffer + offset++) = (exp_replan_delay>>4) & 0x7F;
00097 if(this->replan_delay < 0) *(outbuffer + offset -1) |= 0x80;
00098 return offset;
00099 }
00100
00101 virtual int deserialize(unsigned char *inbuffer)
00102 {
00103 int offset = 0;
00104 offset += this->planning_scene_diff.deserialize(inbuffer + offset);
00105 union {
00106 bool real;
00107 uint8_t base;
00108 } u_plan_only;
00109 u_plan_only.base = 0;
00110 u_plan_only.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00111 this->plan_only = u_plan_only.real;
00112 offset += sizeof(this->plan_only);
00113 union {
00114 bool real;
00115 uint8_t base;
00116 } u_look_around;
00117 u_look_around.base = 0;
00118 u_look_around.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00119 this->look_around = u_look_around.real;
00120 offset += sizeof(this->look_around);
00121 union {
00122 int32_t real;
00123 uint32_t base;
00124 } u_look_around_attempts;
00125 u_look_around_attempts.base = 0;
00126 u_look_around_attempts.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00127 u_look_around_attempts.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00128 u_look_around_attempts.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00129 u_look_around_attempts.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00130 this->look_around_attempts = u_look_around_attempts.real;
00131 offset += sizeof(this->look_around_attempts);
00132 uint32_t * val_max_safe_execution_cost = (uint32_t*) &(this->max_safe_execution_cost);
00133 offset += 3;
00134 *val_max_safe_execution_cost = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00135 *val_max_safe_execution_cost |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00136 *val_max_safe_execution_cost |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00137 *val_max_safe_execution_cost |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00138 uint32_t exp_max_safe_execution_cost = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00139 exp_max_safe_execution_cost |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00140 if(exp_max_safe_execution_cost !=0)
00141 *val_max_safe_execution_cost |= ((exp_max_safe_execution_cost)-1023+127)<<23;
00142 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->max_safe_execution_cost = -this->max_safe_execution_cost;
00143 union {
00144 bool real;
00145 uint8_t base;
00146 } u_replan;
00147 u_replan.base = 0;
00148 u_replan.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00149 this->replan = u_replan.real;
00150 offset += sizeof(this->replan);
00151 union {
00152 int32_t real;
00153 uint32_t base;
00154 } u_replan_attempts;
00155 u_replan_attempts.base = 0;
00156 u_replan_attempts.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00157 u_replan_attempts.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00158 u_replan_attempts.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00159 u_replan_attempts.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00160 this->replan_attempts = u_replan_attempts.real;
00161 offset += sizeof(this->replan_attempts);
00162 uint32_t * val_replan_delay = (uint32_t*) &(this->replan_delay);
00163 offset += 3;
00164 *val_replan_delay = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00165 *val_replan_delay |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00166 *val_replan_delay |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00167 *val_replan_delay |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00168 uint32_t exp_replan_delay = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00169 exp_replan_delay |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00170 if(exp_replan_delay !=0)
00171 *val_replan_delay |= ((exp_replan_delay)-1023+127)<<23;
00172 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->replan_delay = -this->replan_delay;
00173 return offset;
00174 }
00175
00176 const char * getType(){ return "moveit_msgs/PlanningOptions"; };
00177 const char * getMD5(){ return "3934e50ede2ecea03e532aade900ab50"; };
00178
00179 };
00180
00181 }
00182 #endif