Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/control_msgs/SingleJointPositionFeedback.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_control_msgs_SingleJointPositionFeedback_h
scarter1 0:020db18a476d 2 #define _ROS_control_msgs_SingleJointPositionFeedback_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 #include "std_msgs/Header.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace control_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class SingleJointPositionFeedback : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 17 _header_type header;
scarter1 0:020db18a476d 18 typedef double _position_type;
scarter1 0:020db18a476d 19 _position_type position;
scarter1 0:020db18a476d 20 typedef double _velocity_type;
scarter1 0:020db18a476d 21 _velocity_type velocity;
scarter1 0:020db18a476d 22 typedef double _error_type;
scarter1 0:020db18a476d 23 _error_type error;
scarter1 0:020db18a476d 24
scarter1 0:020db18a476d 25 SingleJointPositionFeedback():
scarter1 0:020db18a476d 26 header(),
scarter1 0:020db18a476d 27 position(0),
scarter1 0:020db18a476d 28 velocity(0),
scarter1 0:020db18a476d 29 error(0)
scarter1 0:020db18a476d 30 {
scarter1 0:020db18a476d 31 }
scarter1 0:020db18a476d 32
scarter1 0:020db18a476d 33 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 34 {
scarter1 0:020db18a476d 35 int offset = 0;
scarter1 0:020db18a476d 36 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 37 union {
scarter1 0:020db18a476d 38 double real;
scarter1 0:020db18a476d 39 uint64_t base;
scarter1 0:020db18a476d 40 } u_position;
scarter1 0:020db18a476d 41 u_position.real = this->position;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 47 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 49 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 50 offset += sizeof(this->position);
scarter1 0:020db18a476d 51 union {
scarter1 0:020db18a476d 52 double real;
scarter1 0:020db18a476d 53 uint64_t base;
scarter1 0:020db18a476d 54 } u_velocity;
scarter1 0:020db18a476d 55 u_velocity.real = this->velocity;
scarter1 0:020db18a476d 56 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 57 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 58 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 59 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 62 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 64 offset += sizeof(this->velocity);
scarter1 0:020db18a476d 65 union {
scarter1 0:020db18a476d 66 double real;
scarter1 0:020db18a476d 67 uint64_t base;
scarter1 0:020db18a476d 68 } u_error;
scarter1 0:020db18a476d 69 u_error.real = this->error;
scarter1 0:020db18a476d 70 *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 71 *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 72 *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 73 *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 74 *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 76 *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 77 *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 78 offset += sizeof(this->error);
scarter1 0:020db18a476d 79 return offset;
scarter1 0:020db18a476d 80 }
scarter1 0:020db18a476d 81
scarter1 0:020db18a476d 82 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 83 {
scarter1 0:020db18a476d 84 int offset = 0;
scarter1 0:020db18a476d 85 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 86 union {
scarter1 0:020db18a476d 87 double real;
scarter1 0:020db18a476d 88 uint64_t base;
scarter1 0:020db18a476d 89 } u_position;
scarter1 0:020db18a476d 90 u_position.base = 0;
scarter1 0:020db18a476d 91 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 92 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 93 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 94 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 95 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 96 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 97 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 98 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 99 this->position = u_position.real;
scarter1 0:020db18a476d 100 offset += sizeof(this->position);
scarter1 0:020db18a476d 101 union {
scarter1 0:020db18a476d 102 double real;
scarter1 0:020db18a476d 103 uint64_t base;
scarter1 0:020db18a476d 104 } u_velocity;
scarter1 0:020db18a476d 105 u_velocity.base = 0;
scarter1 0:020db18a476d 106 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 107 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 108 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 109 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 110 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 111 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 112 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 113 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 114 this->velocity = u_velocity.real;
scarter1 0:020db18a476d 115 offset += sizeof(this->velocity);
scarter1 0:020db18a476d 116 union {
scarter1 0:020db18a476d 117 double real;
scarter1 0:020db18a476d 118 uint64_t base;
scarter1 0:020db18a476d 119 } u_error;
scarter1 0:020db18a476d 120 u_error.base = 0;
scarter1 0:020db18a476d 121 u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 122 u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 123 u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 124 u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 125 u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 126 u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 127 u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 128 u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 129 this->error = u_error.real;
scarter1 0:020db18a476d 130 offset += sizeof(this->error);
scarter1 0:020db18a476d 131 return offset;
scarter1 0:020db18a476d 132 }
scarter1 0:020db18a476d 133
scarter1 0:020db18a476d 134 const char * getType(){ return "control_msgs/SingleJointPositionFeedback"; };
scarter1 0:020db18a476d 135 const char * getMD5(){ return "8cee65610a3d08e0a1bded82f146f1fd"; };
scarter1 0:020db18a476d 136
scarter1 0:020db18a476d 137 };
scarter1 0:020db18a476d 138
scarter1 0:020db18a476d 139 }
scarter1 0:020db18a476d 140 #endif