Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/control_msgs/JointTolerance.h@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_control_msgs_JointTolerance_h
scarter1 0:020db18a476d 2 #define _ROS_control_msgs_JointTolerance_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8
scarter1 0:020db18a476d 9 namespace control_msgs
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 class JointTolerance : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 typedef const char* _name_type;
scarter1 0:020db18a476d 16 _name_type name;
scarter1 0:020db18a476d 17 typedef double _position_type;
scarter1 0:020db18a476d 18 _position_type position;
scarter1 0:020db18a476d 19 typedef double _velocity_type;
scarter1 0:020db18a476d 20 _velocity_type velocity;
scarter1 0:020db18a476d 21 typedef double _acceleration_type;
scarter1 0:020db18a476d 22 _acceleration_type acceleration;
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 JointTolerance():
scarter1 0:020db18a476d 25 name(""),
scarter1 0:020db18a476d 26 position(0),
scarter1 0:020db18a476d 27 velocity(0),
scarter1 0:020db18a476d 28 acceleration(0)
scarter1 0:020db18a476d 29 {
scarter1 0:020db18a476d 30 }
scarter1 0:020db18a476d 31
scarter1 0:020db18a476d 32 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 33 {
scarter1 0:020db18a476d 34 int offset = 0;
scarter1 0:020db18a476d 35 uint32_t length_name = strlen(this->name);
scarter1 0:020db18a476d 36 varToArr(outbuffer + offset, length_name);
scarter1 0:020db18a476d 37 offset += 4;
scarter1 0:020db18a476d 38 memcpy(outbuffer + offset, this->name, length_name);
scarter1 0:020db18a476d 39 offset += length_name;
scarter1 0:020db18a476d 40 union {
scarter1 0:020db18a476d 41 double real;
scarter1 0:020db18a476d 42 uint64_t base;
scarter1 0:020db18a476d 43 } u_position;
scarter1 0:020db18a476d 44 u_position.real = this->position;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 47 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 49 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 50 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 52 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 53 offset += sizeof(this->position);
scarter1 0:020db18a476d 54 union {
scarter1 0:020db18a476d 55 double real;
scarter1 0:020db18a476d 56 uint64_t base;
scarter1 0:020db18a476d 57 } u_velocity;
scarter1 0:020db18a476d 58 u_velocity.real = this->velocity;
scarter1 0:020db18a476d 59 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 62 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 64 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 65 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 67 offset += sizeof(this->velocity);
scarter1 0:020db18a476d 68 union {
scarter1 0:020db18a476d 69 double real;
scarter1 0:020db18a476d 70 uint64_t base;
scarter1 0:020db18a476d 71 } u_acceleration;
scarter1 0:020db18a476d 72 u_acceleration.real = this->acceleration;
scarter1 0:020db18a476d 73 *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 74 *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 76 *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 77 *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 78 *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 79 *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 80 *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 81 offset += sizeof(this->acceleration);
scarter1 0:020db18a476d 82 return offset;
scarter1 0:020db18a476d 83 }
scarter1 0:020db18a476d 84
scarter1 0:020db18a476d 85 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 86 {
scarter1 0:020db18a476d 87 int offset = 0;
scarter1 0:020db18a476d 88 uint32_t length_name;
scarter1 0:020db18a476d 89 arrToVar(length_name, (inbuffer + offset));
scarter1 0:020db18a476d 90 offset += 4;
scarter1 0:020db18a476d 91 for(unsigned int k= offset; k< offset+length_name; ++k){
scarter1 0:020db18a476d 92 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 93 }
scarter1 0:020db18a476d 94 inbuffer[offset+length_name-1]=0;
scarter1 0:020db18a476d 95 this->name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 96 offset += length_name;
scarter1 0:020db18a476d 97 union {
scarter1 0:020db18a476d 98 double real;
scarter1 0:020db18a476d 99 uint64_t base;
scarter1 0:020db18a476d 100 } u_position;
scarter1 0:020db18a476d 101 u_position.base = 0;
scarter1 0:020db18a476d 102 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 103 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 104 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 105 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 106 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 107 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 108 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 109 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 110 this->position = u_position.real;
scarter1 0:020db18a476d 111 offset += sizeof(this->position);
scarter1 0:020db18a476d 112 union {
scarter1 0:020db18a476d 113 double real;
scarter1 0:020db18a476d 114 uint64_t base;
scarter1 0:020db18a476d 115 } u_velocity;
scarter1 0:020db18a476d 116 u_velocity.base = 0;
scarter1 0:020db18a476d 117 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 118 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 119 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 120 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 121 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 122 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 123 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 124 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 125 this->velocity = u_velocity.real;
scarter1 0:020db18a476d 126 offset += sizeof(this->velocity);
scarter1 0:020db18a476d 127 union {
scarter1 0:020db18a476d 128 double real;
scarter1 0:020db18a476d 129 uint64_t base;
scarter1 0:020db18a476d 130 } u_acceleration;
scarter1 0:020db18a476d 131 u_acceleration.base = 0;
scarter1 0:020db18a476d 132 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 133 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 134 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 135 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 136 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 137 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 138 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 139 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 140 this->acceleration = u_acceleration.real;
scarter1 0:020db18a476d 141 offset += sizeof(this->acceleration);
scarter1 0:020db18a476d 142 return offset;
scarter1 0:020db18a476d 143 }
scarter1 0:020db18a476d 144
scarter1 0:020db18a476d 145 const char * getType(){ return "control_msgs/JointTolerance"; };
scarter1 0:020db18a476d 146 const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
scarter1 0:020db18a476d 147
scarter1 0:020db18a476d 148 };
scarter1 0:020db18a476d 149
scarter1 0:020db18a476d 150 }
scarter1 0:020db18a476d 151 #endif