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Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/MultiDOFJointState.h@3:2a3664dc6634, 2019-08-13 (annotated)

Committer:
Jeonghoon
Date:
Tue Aug 13 05:53:22 2019 +0000
Revision:
3:2a3664dc6634
with ROS;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_MultiDOFJointState_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_MultiDOFJointState_h
Jeonghoon 3:2a3664dc6634 3
Jeonghoon 3:2a3664dc6634 4 #include <stdint.h>
Jeonghoon 3:2a3664dc6634 5 #include <string.h>
Jeonghoon 3:2a3664dc6634 6 #include <stdlib.h>
Jeonghoon 3:2a3664dc6634 7 #include "ros/msg.h"
Jeonghoon 3:2a3664dc6634 8 #include "std_msgs/Header.h"
Jeonghoon 3:2a3664dc6634 9 #include "geometry_msgs/Transform.h"
Jeonghoon 3:2a3664dc6634 10 #include "geometry_msgs/Twist.h"
Jeonghoon 3:2a3664dc6634 11 #include "geometry_msgs/Wrench.h"
Jeonghoon 3:2a3664dc6634 12
Jeonghoon 3:2a3664dc6634 13 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 14 {
Jeonghoon 3:2a3664dc6634 15
Jeonghoon 3:2a3664dc6634 16 class MultiDOFJointState : public ros::Msg
Jeonghoon 3:2a3664dc6634 17 {
Jeonghoon 3:2a3664dc6634 18 public:
Jeonghoon 3:2a3664dc6634 19 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 20 _header_type header;
Jeonghoon 3:2a3664dc6634 21 uint32_t joint_names_length;
Jeonghoon 3:2a3664dc6634 22 typedef char* _joint_names_type;
Jeonghoon 3:2a3664dc6634 23 _joint_names_type st_joint_names;
Jeonghoon 3:2a3664dc6634 24 _joint_names_type * joint_names;
Jeonghoon 3:2a3664dc6634 25 uint32_t transforms_length;
Jeonghoon 3:2a3664dc6634 26 typedef geometry_msgs::Transform _transforms_type;
Jeonghoon 3:2a3664dc6634 27 _transforms_type st_transforms;
Jeonghoon 3:2a3664dc6634 28 _transforms_type * transforms;
Jeonghoon 3:2a3664dc6634 29 uint32_t twist_length;
Jeonghoon 3:2a3664dc6634 30 typedef geometry_msgs::Twist _twist_type;
Jeonghoon 3:2a3664dc6634 31 _twist_type st_twist;
Jeonghoon 3:2a3664dc6634 32 _twist_type * twist;
Jeonghoon 3:2a3664dc6634 33 uint32_t wrench_length;
Jeonghoon 3:2a3664dc6634 34 typedef geometry_msgs::Wrench _wrench_type;
Jeonghoon 3:2a3664dc6634 35 _wrench_type st_wrench;
Jeonghoon 3:2a3664dc6634 36 _wrench_type * wrench;
Jeonghoon 3:2a3664dc6634 37
Jeonghoon 3:2a3664dc6634 38 MultiDOFJointState():
Jeonghoon 3:2a3664dc6634 39 header(),
Jeonghoon 3:2a3664dc6634 40 joint_names_length(0), joint_names(NULL),
Jeonghoon 3:2a3664dc6634 41 transforms_length(0), transforms(NULL),
Jeonghoon 3:2a3664dc6634 42 twist_length(0), twist(NULL),
Jeonghoon 3:2a3664dc6634 43 wrench_length(0), wrench(NULL)
Jeonghoon 3:2a3664dc6634 44 {
Jeonghoon 3:2a3664dc6634 45 }
Jeonghoon 3:2a3664dc6634 46
Jeonghoon 3:2a3664dc6634 47 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 48 {
Jeonghoon 3:2a3664dc6634 49 int offset = 0;
Jeonghoon 3:2a3664dc6634 50 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 51 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 52 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 53 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 54 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 55 offset += sizeof(this->joint_names_length);
Jeonghoon 3:2a3664dc6634 56 for( uint32_t i = 0; i < joint_names_length; i++){
Jeonghoon 3:2a3664dc6634 57 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
Jeonghoon 3:2a3664dc6634 58 varToArr(outbuffer + offset, length_joint_namesi);
Jeonghoon 3:2a3664dc6634 59 offset += 4;
Jeonghoon 3:2a3664dc6634 60 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
Jeonghoon 3:2a3664dc6634 61 offset += length_joint_namesi;
Jeonghoon 3:2a3664dc6634 62 }
Jeonghoon 3:2a3664dc6634 63 *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 64 *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 65 *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 66 *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 67 offset += sizeof(this->transforms_length);
Jeonghoon 3:2a3664dc6634 68 for( uint32_t i = 0; i < transforms_length; i++){
Jeonghoon 3:2a3664dc6634 69 offset += this->transforms[i].serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 70 }
Jeonghoon 3:2a3664dc6634 71 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 72 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 73 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 74 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 75 offset += sizeof(this->twist_length);
Jeonghoon 3:2a3664dc6634 76 for( uint32_t i = 0; i < twist_length; i++){
Jeonghoon 3:2a3664dc6634 77 offset += this->twist[i].serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 78 }
Jeonghoon 3:2a3664dc6634 79 *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 80 *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 81 *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 82 *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 83 offset += sizeof(this->wrench_length);
Jeonghoon 3:2a3664dc6634 84 for( uint32_t i = 0; i < wrench_length; i++){
Jeonghoon 3:2a3664dc6634 85 offset += this->wrench[i].serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 86 }
Jeonghoon 3:2a3664dc6634 87 return offset;
Jeonghoon 3:2a3664dc6634 88 }
Jeonghoon 3:2a3664dc6634 89
Jeonghoon 3:2a3664dc6634 90 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 91 {
Jeonghoon 3:2a3664dc6634 92 int offset = 0;
Jeonghoon 3:2a3664dc6634 93 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 94 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 95 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 96 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 97 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 98 offset += sizeof(this->joint_names_length);
Jeonghoon 3:2a3664dc6634 99 if(joint_names_lengthT > joint_names_length)
Jeonghoon 3:2a3664dc6634 100 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
Jeonghoon 3:2a3664dc6634 101 joint_names_length = joint_names_lengthT;
Jeonghoon 3:2a3664dc6634 102 for( uint32_t i = 0; i < joint_names_length; i++){
Jeonghoon 3:2a3664dc6634 103 uint32_t length_st_joint_names;
Jeonghoon 3:2a3664dc6634 104 arrToVar(length_st_joint_names, (inbuffer + offset));
Jeonghoon 3:2a3664dc6634 105 offset += 4;
Jeonghoon 3:2a3664dc6634 106 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
Jeonghoon 3:2a3664dc6634 107 inbuffer[k-1]=inbuffer[k];
Jeonghoon 3:2a3664dc6634 108 }
Jeonghoon 3:2a3664dc6634 109 inbuffer[offset+length_st_joint_names-1]=0;
Jeonghoon 3:2a3664dc6634 110 this->st_joint_names = (char *)(inbuffer + offset-1);
Jeonghoon 3:2a3664dc6634 111 offset += length_st_joint_names;
Jeonghoon 3:2a3664dc6634 112 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
Jeonghoon 3:2a3664dc6634 113 }
Jeonghoon 3:2a3664dc6634 114 uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 115 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 116 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 117 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 118 offset += sizeof(this->transforms_length);
Jeonghoon 3:2a3664dc6634 119 if(transforms_lengthT > transforms_length)
Jeonghoon 3:2a3664dc6634 120 this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
Jeonghoon 3:2a3664dc6634 121 transforms_length = transforms_lengthT;
Jeonghoon 3:2a3664dc6634 122 for( uint32_t i = 0; i < transforms_length; i++){
Jeonghoon 3:2a3664dc6634 123 offset += this->st_transforms.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 124 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
Jeonghoon 3:2a3664dc6634 125 }
Jeonghoon 3:2a3664dc6634 126 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 127 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 128 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 129 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 130 offset += sizeof(this->twist_length);
Jeonghoon 3:2a3664dc6634 131 if(twist_lengthT > twist_length)
Jeonghoon 3:2a3664dc6634 132 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
Jeonghoon 3:2a3664dc6634 133 twist_length = twist_lengthT;
Jeonghoon 3:2a3664dc6634 134 for( uint32_t i = 0; i < twist_length; i++){
Jeonghoon 3:2a3664dc6634 135 offset += this->st_twist.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 136 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
Jeonghoon 3:2a3664dc6634 137 }
Jeonghoon 3:2a3664dc6634 138 uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 139 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 140 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 141 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 142 offset += sizeof(this->wrench_length);
Jeonghoon 3:2a3664dc6634 143 if(wrench_lengthT > wrench_length)
Jeonghoon 3:2a3664dc6634 144 this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
Jeonghoon 3:2a3664dc6634 145 wrench_length = wrench_lengthT;
Jeonghoon 3:2a3664dc6634 146 for( uint32_t i = 0; i < wrench_length; i++){
Jeonghoon 3:2a3664dc6634 147 offset += this->st_wrench.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 148 memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
Jeonghoon 3:2a3664dc6634 149 }
Jeonghoon 3:2a3664dc6634 150 return offset;
Jeonghoon 3:2a3664dc6634 151 }
Jeonghoon 3:2a3664dc6634 152
Jeonghoon 3:2a3664dc6634 153 const char * getType(){ return "sensor_msgs/MultiDOFJointState"; };
Jeonghoon 3:2a3664dc6634 154 const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; };
Jeonghoon 3:2a3664dc6634 155
Jeonghoon 3:2a3664dc6634 156 };
Jeonghoon 3:2a3664dc6634 157
Jeonghoon 3:2a3664dc6634 158 }
Jeonghoon 3:2a3664dc6634 159 #endif