Robotic Team 1 / ros_lib_indigo

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

trajectory_msgs/MultiDOFJointTrajectory.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
garyservin 0:fd24f7ca9688 2 #define _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "trajectory_msgs/MultiDOFJointTrajectoryPoint.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace trajectory_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class MultiDOFJointTrajectory : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 uint8_t joint_names_length;
garyservin 0:fd24f7ca9688 19 char* st_joint_names;
garyservin 0:fd24f7ca9688 20 char* * joint_names;
garyservin 0:fd24f7ca9688 21 uint8_t points_length;
garyservin 0:fd24f7ca9688 22 trajectory_msgs::MultiDOFJointTrajectoryPoint st_points;
garyservin 0:fd24f7ca9688 23 trajectory_msgs::MultiDOFJointTrajectoryPoint * points;
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 MultiDOFJointTrajectory():
garyservin 0:fd24f7ca9688 26 header(),
garyservin 0:fd24f7ca9688 27 joint_names_length(0), joint_names(NULL),
garyservin 0:fd24f7ca9688 28 points_length(0), points(NULL)
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 }
garyservin 0:fd24f7ca9688 31
garyservin 0:fd24f7ca9688 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 33 {
garyservin 0:fd24f7ca9688 34 int offset = 0;
garyservin 0:fd24f7ca9688 35 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset++) = joint_names_length;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 40 for( uint8_t i = 0; i < joint_names_length; i++){
garyservin 0:fd24f7ca9688 41 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
garyservin 0:fd24f7ca9688 42 memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 43 offset += 4;
garyservin 0:fd24f7ca9688 44 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
garyservin 0:fd24f7ca9688 45 offset += length_joint_namesi;
garyservin 0:fd24f7ca9688 46 }
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset++) = points_length;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 51 for( uint8_t i = 0; i < points_length; i++){
garyservin 0:fd24f7ca9688 52 offset += this->points[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 53 }
garyservin 0:fd24f7ca9688 54 return offset;
garyservin 0:fd24f7ca9688 55 }
garyservin 0:fd24f7ca9688 56
garyservin 0:fd24f7ca9688 57 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 58 {
garyservin 0:fd24f7ca9688 59 int offset = 0;
garyservin 0:fd24f7ca9688 60 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 61 uint8_t joint_names_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 62 if(joint_names_lengthT > joint_names_length)
garyservin 0:fd24f7ca9688 63 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
garyservin 0:fd24f7ca9688 64 offset += 3;
garyservin 0:fd24f7ca9688 65 joint_names_length = joint_names_lengthT;
garyservin 0:fd24f7ca9688 66 for( uint8_t i = 0; i < joint_names_length; i++){
garyservin 0:fd24f7ca9688 67 uint32_t length_st_joint_names;
garyservin 0:fd24f7ca9688 68 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 69 offset += 4;
garyservin 0:fd24f7ca9688 70 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
garyservin 0:fd24f7ca9688 71 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 72 }
garyservin 0:fd24f7ca9688 73 inbuffer[offset+length_st_joint_names-1]=0;
garyservin 0:fd24f7ca9688 74 this->st_joint_names = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 75 offset += length_st_joint_names;
garyservin 0:fd24f7ca9688 76 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
garyservin 0:fd24f7ca9688 77 }
garyservin 0:fd24f7ca9688 78 uint8_t points_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 79 if(points_lengthT > points_length)
garyservin 0:fd24f7ca9688 80 this->points = (trajectory_msgs::MultiDOFJointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
garyservin 0:fd24f7ca9688 81 offset += 3;
garyservin 0:fd24f7ca9688 82 points_length = points_lengthT;
garyservin 0:fd24f7ca9688 83 for( uint8_t i = 0; i < points_length; i++){
garyservin 0:fd24f7ca9688 84 offset += this->st_points.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 85 memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
garyservin 0:fd24f7ca9688 86 }
garyservin 0:fd24f7ca9688 87 return offset;
garyservin 0:fd24f7ca9688 88 }
garyservin 0:fd24f7ca9688 89
garyservin 0:fd24f7ca9688 90 const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectory"; };
garyservin 0:fd24f7ca9688 91 const char * getMD5(){ return "ef145a45a5f47b77b7f5cdde4b16c942"; };
garyservin 0:fd24f7ca9688 92
garyservin 0:fd24f7ca9688 93 };
garyservin 0:fd24f7ca9688 94
garyservin 0:fd24f7ca9688 95 }
garyservin 0:fd24f7ca9688 96 #endif