Go to the documentation of this file.00001 #ifndef _ROS_moveit_msgs_PositionConstraint_h
00002 #define _ROS_moveit_msgs_PositionConstraint_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/Vector3.h"
00010 #include "moveit_msgs/BoundingVolume.h"
00011
00012 namespace moveit_msgs
00013 {
00014
00015 class PositionConstraint : public ros::Msg
00016 {
00017 public:
00018 std_msgs::Header header;
00019 const char* link_name;
00020 geometry_msgs::Vector3 target_point_offset;
00021 moveit_msgs::BoundingVolume constraint_region;
00022 float weight;
00023
00024 virtual int serialize(unsigned char *outbuffer) const
00025 {
00026 int offset = 0;
00027 offset += this->header.serialize(outbuffer + offset);
00028 uint32_t length_link_name = strlen(this->link_name);
00029 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
00030 offset += 4;
00031 memcpy(outbuffer + offset, this->link_name, length_link_name);
00032 offset += length_link_name;
00033 offset += this->target_point_offset.serialize(outbuffer + offset);
00034 offset += this->constraint_region.serialize(outbuffer + offset);
00035 int32_t * val_weight = (int32_t *) &(this->weight);
00036 int32_t exp_weight = (((*val_weight)>>23)&255);
00037 if(exp_weight != 0)
00038 exp_weight += 1023-127;
00039 int32_t sig_weight = *val_weight;
00040 *(outbuffer + offset++) = 0;
00041 *(outbuffer + offset++) = 0;
00042 *(outbuffer + offset++) = 0;
00043 *(outbuffer + offset++) = (sig_weight<<5) & 0xff;
00044 *(outbuffer + offset++) = (sig_weight>>3) & 0xff;
00045 *(outbuffer + offset++) = (sig_weight>>11) & 0xff;
00046 *(outbuffer + offset++) = ((exp_weight<<4) & 0xF0) | ((sig_weight>>19)&0x0F);
00047 *(outbuffer + offset++) = (exp_weight>>4) & 0x7F;
00048 if(this->weight < 0) *(outbuffer + offset -1) |= 0x80;
00049 return offset;
00050 }
00051
00052 virtual int deserialize(unsigned char *inbuffer)
00053 {
00054 int offset = 0;
00055 offset += this->header.deserialize(inbuffer + offset);
00056 uint32_t length_link_name;
00057 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
00058 offset += 4;
00059 for(unsigned int k= offset; k< offset+length_link_name; ++k){
00060 inbuffer[k-1]=inbuffer[k];
00061 }
00062 inbuffer[offset+length_link_name-1]=0;
00063 this->link_name = (char *)(inbuffer + offset-1);
00064 offset += length_link_name;
00065 offset += this->target_point_offset.deserialize(inbuffer + offset);
00066 offset += this->constraint_region.deserialize(inbuffer + offset);
00067 uint32_t * val_weight = (uint32_t*) &(this->weight);
00068 offset += 3;
00069 *val_weight = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00070 *val_weight |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00071 *val_weight |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00072 *val_weight |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00073 uint32_t exp_weight = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00074 exp_weight |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00075 if(exp_weight !=0)
00076 *val_weight |= ((exp_weight)-1023+127)<<23;
00077 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->weight = -this->weight;
00078 return offset;
00079 }
00080
00081 const char * getType(){ return "moveit_msgs/PositionConstraint"; };
00082 const char * getMD5(){ return "c83edf208d87d3aa3169f47775a58e6a"; };
00083
00084 };
00085
00086 }
00087 #endif