00001 #ifndef _ROS_moveit_msgs_PlanningSceneComponents_h 00002 #define _ROS_moveit_msgs_PlanningSceneComponents_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 PlanningSceneComponents : public ros::Msg 00013 { 00014 public: 00015 uint32_t components; 00016 enum { SCENE_SETTINGS = 1 }; 00017 enum { ROBOT_STATE = 2 }; 00018 enum { ROBOT_STATE_ATTACHED_OBJECTS = 4 }; 00019 enum { WORLD_OBJECT_NAMES = 8 }; 00020 enum { WORLD_OBJECT_GEOMETRY = 16 }; 00021 enum { OCTOMAP = 32 }; 00022 enum { TRANSFORMS = 64 }; 00023 enum { ALLOWED_COLLISION_MATRIX = 128 }; 00024 enum { LINK_PADDING_AND_SCALING = 256 }; 00025 enum { OBJECT_COLORS = 512 }; 00026 00027 virtual int serialize(unsigned char *outbuffer) const 00028 { 00029 int offset = 0; 00030 *(outbuffer + offset + 0) = (this->components >> (8 * 0)) & 0xFF; 00031 *(outbuffer + offset + 1) = (this->components >> (8 * 1)) & 0xFF; 00032 *(outbuffer + offset + 2) = (this->components >> (8 * 2)) & 0xFF; 00033 *(outbuffer + offset + 3) = (this->components >> (8 * 3)) & 0xFF; 00034 offset += sizeof(this->components); 00035 return offset; 00036 } 00037 00038 virtual int deserialize(unsigned char *inbuffer) 00039 { 00040 int offset = 0; 00041 this->components = ((uint32_t) (*(inbuffer + offset))); 00042 this->components |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00043 this->components |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00044 this->components |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00045 offset += sizeof(this->components); 00046 return offset; 00047 } 00048 00049 const char * getType(){ return "moveit_msgs/PlanningSceneComponents"; }; 00050 const char * getMD5(){ return "bc993e784476960b918b6e7ad5bb58ce"; }; 00051 00052 }; 00053 00054 } 00055 #endif