Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

moveit_msgs/Constraints.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_moveit_msgs_Constraints_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_Constraints_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "moveit_msgs/JointConstraint.h"
akashvibhute 0:30537dec6e0b 9 #include "moveit_msgs/PositionConstraint.h"
akashvibhute 0:30537dec6e0b 10 #include "moveit_msgs/OrientationConstraint.h"
akashvibhute 0:30537dec6e0b 11 #include "moveit_msgs/VisibilityConstraint.h"
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15
akashvibhute 0:30537dec6e0b 16 class Constraints : public ros::Msg
akashvibhute 0:30537dec6e0b 17 {
akashvibhute 0:30537dec6e0b 18 public:
akashvibhute 0:30537dec6e0b 19 const char* name;
akashvibhute 0:30537dec6e0b 20 uint8_t joint_constraints_length;
akashvibhute 0:30537dec6e0b 21 moveit_msgs::JointConstraint st_joint_constraints;
akashvibhute 0:30537dec6e0b 22 moveit_msgs::JointConstraint * joint_constraints;
akashvibhute 0:30537dec6e0b 23 uint8_t position_constraints_length;
akashvibhute 0:30537dec6e0b 24 moveit_msgs::PositionConstraint st_position_constraints;
akashvibhute 0:30537dec6e0b 25 moveit_msgs::PositionConstraint * position_constraints;
akashvibhute 0:30537dec6e0b 26 uint8_t orientation_constraints_length;
akashvibhute 0:30537dec6e0b 27 moveit_msgs::OrientationConstraint st_orientation_constraints;
akashvibhute 0:30537dec6e0b 28 moveit_msgs::OrientationConstraint * orientation_constraints;
akashvibhute 0:30537dec6e0b 29 uint8_t visibility_constraints_length;
akashvibhute 0:30537dec6e0b 30 moveit_msgs::VisibilityConstraint st_visibility_constraints;
akashvibhute 0:30537dec6e0b 31 moveit_msgs::VisibilityConstraint * visibility_constraints;
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 Constraints():
akashvibhute 0:30537dec6e0b 34 name(""),
akashvibhute 0:30537dec6e0b 35 joint_constraints_length(0), joint_constraints(NULL),
akashvibhute 0:30537dec6e0b 36 position_constraints_length(0), position_constraints(NULL),
akashvibhute 0:30537dec6e0b 37 orientation_constraints_length(0), orientation_constraints(NULL),
akashvibhute 0:30537dec6e0b 38 visibility_constraints_length(0), visibility_constraints(NULL)
akashvibhute 0:30537dec6e0b 39 {
akashvibhute 0:30537dec6e0b 40 }
akashvibhute 0:30537dec6e0b 41
akashvibhute 0:30537dec6e0b 42 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 43 {
akashvibhute 0:30537dec6e0b 44 int offset = 0;
akashvibhute 0:30537dec6e0b 45 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 46 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 47 offset += 4;
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 49 offset += length_name;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset++) = joint_constraints_length;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 54 for( uint8_t i = 0; i < joint_constraints_length; i++){
akashvibhute 0:30537dec6e0b 55 offset += this->joint_constraints[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = position_constraints_length;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 61 for( uint8_t i = 0; i < position_constraints_length; i++){
akashvibhute 0:30537dec6e0b 62 offset += this->position_constraints[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset++) = orientation_constraints_length;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 68 for( uint8_t i = 0; i < orientation_constraints_length; i++){
akashvibhute 0:30537dec6e0b 69 offset += this->orientation_constraints[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 70 }
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset++) = visibility_constraints_length;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 75 for( uint8_t i = 0; i < visibility_constraints_length; i++){
akashvibhute 0:30537dec6e0b 76 offset += this->visibility_constraints[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 77 }
akashvibhute 0:30537dec6e0b 78 return offset;
akashvibhute 0:30537dec6e0b 79 }
akashvibhute 0:30537dec6e0b 80
akashvibhute 0:30537dec6e0b 81 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 82 {
akashvibhute 0:30537dec6e0b 83 int offset = 0;
akashvibhute 0:30537dec6e0b 84 uint32_t length_name;
akashvibhute 0:30537dec6e0b 85 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 86 offset += 4;
akashvibhute 0:30537dec6e0b 87 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 88 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 89 }
akashvibhute 0:30537dec6e0b 90 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 91 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 92 offset += length_name;
akashvibhute 0:30537dec6e0b 93 uint8_t joint_constraints_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 94 if(joint_constraints_lengthT > joint_constraints_length)
akashvibhute 0:30537dec6e0b 95 this->joint_constraints = (moveit_msgs::JointConstraint*)realloc(this->joint_constraints, joint_constraints_lengthT * sizeof(moveit_msgs::JointConstraint));
akashvibhute 0:30537dec6e0b 96 offset += 3;
akashvibhute 0:30537dec6e0b 97 joint_constraints_length = joint_constraints_lengthT;
akashvibhute 0:30537dec6e0b 98 for( uint8_t i = 0; i < joint_constraints_length; i++){
akashvibhute 0:30537dec6e0b 99 offset += this->st_joint_constraints.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 100 memcpy( &(this->joint_constraints[i]), &(this->st_joint_constraints), sizeof(moveit_msgs::JointConstraint));
akashvibhute 0:30537dec6e0b 101 }
akashvibhute 0:30537dec6e0b 102 uint8_t position_constraints_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 103 if(position_constraints_lengthT > position_constraints_length)
akashvibhute 0:30537dec6e0b 104 this->position_constraints = (moveit_msgs::PositionConstraint*)realloc(this->position_constraints, position_constraints_lengthT * sizeof(moveit_msgs::PositionConstraint));
akashvibhute 0:30537dec6e0b 105 offset += 3;
akashvibhute 0:30537dec6e0b 106 position_constraints_length = position_constraints_lengthT;
akashvibhute 0:30537dec6e0b 107 for( uint8_t i = 0; i < position_constraints_length; i++){
akashvibhute 0:30537dec6e0b 108 offset += this->st_position_constraints.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 109 memcpy( &(this->position_constraints[i]), &(this->st_position_constraints), sizeof(moveit_msgs::PositionConstraint));
akashvibhute 0:30537dec6e0b 110 }
akashvibhute 0:30537dec6e0b 111 uint8_t orientation_constraints_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 112 if(orientation_constraints_lengthT > orientation_constraints_length)
akashvibhute 0:30537dec6e0b 113 this->orientation_constraints = (moveit_msgs::OrientationConstraint*)realloc(this->orientation_constraints, orientation_constraints_lengthT * sizeof(moveit_msgs::OrientationConstraint));
akashvibhute 0:30537dec6e0b 114 offset += 3;
akashvibhute 0:30537dec6e0b 115 orientation_constraints_length = orientation_constraints_lengthT;
akashvibhute 0:30537dec6e0b 116 for( uint8_t i = 0; i < orientation_constraints_length; i++){
akashvibhute 0:30537dec6e0b 117 offset += this->st_orientation_constraints.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 118 memcpy( &(this->orientation_constraints[i]), &(this->st_orientation_constraints), sizeof(moveit_msgs::OrientationConstraint));
akashvibhute 0:30537dec6e0b 119 }
akashvibhute 0:30537dec6e0b 120 uint8_t visibility_constraints_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 121 if(visibility_constraints_lengthT > visibility_constraints_length)
akashvibhute 0:30537dec6e0b 122 this->visibility_constraints = (moveit_msgs::VisibilityConstraint*)realloc(this->visibility_constraints, visibility_constraints_lengthT * sizeof(moveit_msgs::VisibilityConstraint));
akashvibhute 0:30537dec6e0b 123 offset += 3;
akashvibhute 0:30537dec6e0b 124 visibility_constraints_length = visibility_constraints_lengthT;
akashvibhute 0:30537dec6e0b 125 for( uint8_t i = 0; i < visibility_constraints_length; i++){
akashvibhute 0:30537dec6e0b 126 offset += this->st_visibility_constraints.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 127 memcpy( &(this->visibility_constraints[i]), &(this->st_visibility_constraints), sizeof(moveit_msgs::VisibilityConstraint));
akashvibhute 0:30537dec6e0b 128 }
akashvibhute 0:30537dec6e0b 129 return offset;
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131
akashvibhute 0:30537dec6e0b 132 const char * getType(){ return "moveit_msgs/Constraints"; };
akashvibhute 0:30537dec6e0b 133 const char * getMD5(){ return "8d5ce8d34ef26c65fb5d43c9e99bf6e0"; };
akashvibhute 0:30537dec6e0b 134
akashvibhute 0:30537dec6e0b 135 };
akashvibhute 0:30537dec6e0b 136
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138 #endif