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/GetPositionFK.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_SERVICE_GetPositionFK_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_GetPositionFK_h
akashvibhute 0:30537dec6e0b 3 #include <stdint.h>
akashvibhute 0:30537dec6e0b 4 #include <string.h>
akashvibhute 0:30537dec6e0b 5 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 6 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 7 #include "moveit_msgs/MoveItErrorCodes.h"
akashvibhute 0:30537dec6e0b 8 #include "geometry_msgs/PoseStamped.h"
akashvibhute 0:30537dec6e0b 9 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 10 #include "moveit_msgs/RobotState.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 static const char GETPOSITIONFK[] = "moveit_msgs/GetPositionFK";
akashvibhute 0:30537dec6e0b 16
akashvibhute 0:30537dec6e0b 17 class GetPositionFKRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 18 {
akashvibhute 0:30537dec6e0b 19 public:
akashvibhute 0:30537dec6e0b 20 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 21 uint8_t fk_link_names_length;
akashvibhute 0:30537dec6e0b 22 char* st_fk_link_names;
akashvibhute 0:30537dec6e0b 23 char* * fk_link_names;
akashvibhute 0:30537dec6e0b 24 moveit_msgs::RobotState robot_state;
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 GetPositionFKRequest():
akashvibhute 0:30537dec6e0b 27 header(),
akashvibhute 0:30537dec6e0b 28 fk_link_names_length(0), fk_link_names(NULL),
akashvibhute 0:30537dec6e0b 29 robot_state()
akashvibhute 0:30537dec6e0b 30 {
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 int offset = 0;
akashvibhute 0:30537dec6e0b 36 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = fk_link_names_length;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 41 for( uint8_t i = 0; i < fk_link_names_length; i++){
akashvibhute 0:30537dec6e0b 42 uint32_t length_fk_link_namesi = strlen(this->fk_link_names[i]);
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, &length_fk_link_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 44 offset += 4;
akashvibhute 0:30537dec6e0b 45 memcpy(outbuffer + offset, this->fk_link_names[i], length_fk_link_namesi);
akashvibhute 0:30537dec6e0b 46 offset += length_fk_link_namesi;
akashvibhute 0:30537dec6e0b 47 }
akashvibhute 0:30537dec6e0b 48 offset += this->robot_state.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 49 return offset;
akashvibhute 0:30537dec6e0b 50 }
akashvibhute 0:30537dec6e0b 51
akashvibhute 0:30537dec6e0b 52 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 53 {
akashvibhute 0:30537dec6e0b 54 int offset = 0;
akashvibhute 0:30537dec6e0b 55 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 56 uint8_t fk_link_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 57 if(fk_link_names_lengthT > fk_link_names_length)
akashvibhute 0:30537dec6e0b 58 this->fk_link_names = (char**)realloc(this->fk_link_names, fk_link_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 59 offset += 3;
akashvibhute 0:30537dec6e0b 60 fk_link_names_length = fk_link_names_lengthT;
akashvibhute 0:30537dec6e0b 61 for( uint8_t i = 0; i < fk_link_names_length; i++){
akashvibhute 0:30537dec6e0b 62 uint32_t length_st_fk_link_names;
akashvibhute 0:30537dec6e0b 63 memcpy(&length_st_fk_link_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 64 offset += 4;
akashvibhute 0:30537dec6e0b 65 for(unsigned int k= offset; k< offset+length_st_fk_link_names; ++k){
akashvibhute 0:30537dec6e0b 66 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 67 }
akashvibhute 0:30537dec6e0b 68 inbuffer[offset+length_st_fk_link_names-1]=0;
akashvibhute 0:30537dec6e0b 69 this->st_fk_link_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 70 offset += length_st_fk_link_names;
akashvibhute 0:30537dec6e0b 71 memcpy( &(this->fk_link_names[i]), &(this->st_fk_link_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73 offset += this->robot_state.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 74 return offset;
akashvibhute 0:30537dec6e0b 75 }
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 const char * getType(){ return GETPOSITIONFK; };
akashvibhute 0:30537dec6e0b 78 const char * getMD5(){ return "1d1ed72044ed56f6246c31b522781797"; };
akashvibhute 0:30537dec6e0b 79
akashvibhute 0:30537dec6e0b 80 };
akashvibhute 0:30537dec6e0b 81
akashvibhute 0:30537dec6e0b 82 class GetPositionFKResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 83 {
akashvibhute 0:30537dec6e0b 84 public:
akashvibhute 0:30537dec6e0b 85 uint8_t pose_stamped_length;
akashvibhute 0:30537dec6e0b 86 geometry_msgs::PoseStamped st_pose_stamped;
akashvibhute 0:30537dec6e0b 87 geometry_msgs::PoseStamped * pose_stamped;
akashvibhute 0:30537dec6e0b 88 uint8_t fk_link_names_length;
akashvibhute 0:30537dec6e0b 89 char* st_fk_link_names;
akashvibhute 0:30537dec6e0b 90 char* * fk_link_names;
akashvibhute 0:30537dec6e0b 91 moveit_msgs::MoveItErrorCodes error_code;
akashvibhute 0:30537dec6e0b 92
akashvibhute 0:30537dec6e0b 93 GetPositionFKResponse():
akashvibhute 0:30537dec6e0b 94 pose_stamped_length(0), pose_stamped(NULL),
akashvibhute 0:30537dec6e0b 95 fk_link_names_length(0), fk_link_names(NULL),
akashvibhute 0:30537dec6e0b 96 error_code()
akashvibhute 0:30537dec6e0b 97 {
akashvibhute 0:30537dec6e0b 98 }
akashvibhute 0:30537dec6e0b 99
akashvibhute 0:30537dec6e0b 100 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 101 {
akashvibhute 0:30537dec6e0b 102 int offset = 0;
akashvibhute 0:30537dec6e0b 103 *(outbuffer + offset++) = pose_stamped_length;
akashvibhute 0:30537dec6e0b 104 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 105 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 106 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 107 for( uint8_t i = 0; i < pose_stamped_length; i++){
akashvibhute 0:30537dec6e0b 108 offset += this->pose_stamped[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 109 }
akashvibhute 0:30537dec6e0b 110 *(outbuffer + offset++) = fk_link_names_length;
akashvibhute 0:30537dec6e0b 111 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 112 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 113 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 114 for( uint8_t i = 0; i < fk_link_names_length; i++){
akashvibhute 0:30537dec6e0b 115 uint32_t length_fk_link_namesi = strlen(this->fk_link_names[i]);
akashvibhute 0:30537dec6e0b 116 memcpy(outbuffer + offset, &length_fk_link_namesi, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 117 offset += 4;
akashvibhute 0:30537dec6e0b 118 memcpy(outbuffer + offset, this->fk_link_names[i], length_fk_link_namesi);
akashvibhute 0:30537dec6e0b 119 offset += length_fk_link_namesi;
akashvibhute 0:30537dec6e0b 120 }
akashvibhute 0:30537dec6e0b 121 offset += this->error_code.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 122 return offset;
akashvibhute 0:30537dec6e0b 123 }
akashvibhute 0:30537dec6e0b 124
akashvibhute 0:30537dec6e0b 125 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 126 {
akashvibhute 0:30537dec6e0b 127 int offset = 0;
akashvibhute 0:30537dec6e0b 128 uint8_t pose_stamped_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 129 if(pose_stamped_lengthT > pose_stamped_length)
akashvibhute 0:30537dec6e0b 130 this->pose_stamped = (geometry_msgs::PoseStamped*)realloc(this->pose_stamped, pose_stamped_lengthT * sizeof(geometry_msgs::PoseStamped));
akashvibhute 0:30537dec6e0b 131 offset += 3;
akashvibhute 0:30537dec6e0b 132 pose_stamped_length = pose_stamped_lengthT;
akashvibhute 0:30537dec6e0b 133 for( uint8_t i = 0; i < pose_stamped_length; i++){
akashvibhute 0:30537dec6e0b 134 offset += this->st_pose_stamped.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 135 memcpy( &(this->pose_stamped[i]), &(this->st_pose_stamped), sizeof(geometry_msgs::PoseStamped));
akashvibhute 0:30537dec6e0b 136 }
akashvibhute 0:30537dec6e0b 137 uint8_t fk_link_names_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 138 if(fk_link_names_lengthT > fk_link_names_length)
akashvibhute 0:30537dec6e0b 139 this->fk_link_names = (char**)realloc(this->fk_link_names, fk_link_names_lengthT * sizeof(char*));
akashvibhute 0:30537dec6e0b 140 offset += 3;
akashvibhute 0:30537dec6e0b 141 fk_link_names_length = fk_link_names_lengthT;
akashvibhute 0:30537dec6e0b 142 for( uint8_t i = 0; i < fk_link_names_length; i++){
akashvibhute 0:30537dec6e0b 143 uint32_t length_st_fk_link_names;
akashvibhute 0:30537dec6e0b 144 memcpy(&length_st_fk_link_names, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 145 offset += 4;
akashvibhute 0:30537dec6e0b 146 for(unsigned int k= offset; k< offset+length_st_fk_link_names; ++k){
akashvibhute 0:30537dec6e0b 147 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 148 }
akashvibhute 0:30537dec6e0b 149 inbuffer[offset+length_st_fk_link_names-1]=0;
akashvibhute 0:30537dec6e0b 150 this->st_fk_link_names = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 151 offset += length_st_fk_link_names;
akashvibhute 0:30537dec6e0b 152 memcpy( &(this->fk_link_names[i]), &(this->st_fk_link_names), sizeof(char*));
akashvibhute 0:30537dec6e0b 153 }
akashvibhute 0:30537dec6e0b 154 offset += this->error_code.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 155 return offset;
akashvibhute 0:30537dec6e0b 156 }
akashvibhute 0:30537dec6e0b 157
akashvibhute 0:30537dec6e0b 158 const char * getType(){ return GETPOSITIONFK; };
akashvibhute 0:30537dec6e0b 159 const char * getMD5(){ return "297215cf4fdfe0008356995ae621dae6"; };
akashvibhute 0:30537dec6e0b 160
akashvibhute 0:30537dec6e0b 161 };
akashvibhute 0:30537dec6e0b 162
akashvibhute 0:30537dec6e0b 163 class GetPositionFK {
akashvibhute 0:30537dec6e0b 164 public:
akashvibhute 0:30537dec6e0b 165 typedef GetPositionFKRequest Request;
akashvibhute 0:30537dec6e0b 166 typedef GetPositionFKResponse Response;
akashvibhute 0:30537dec6e0b 167 };
akashvibhute 0:30537dec6e0b 168
akashvibhute 0:30537dec6e0b 169 }
akashvibhute 0:30537dec6e0b 170 #endif
akashvibhute 0:30537dec6e0b 171