Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/control_msgs/SingleJointPositionGoal.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_SingleJointPositionGoal_h
scarter1 0:020db18a476d 2 #define _ROS_control_msgs_SingleJointPositionGoal_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 "ros/duration.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 SingleJointPositionGoal : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef double _position_type;
scarter1 0:020db18a476d 17 _position_type position;
scarter1 0:020db18a476d 18 typedef ros::Duration _min_duration_type;
scarter1 0:020db18a476d 19 _min_duration_type min_duration;
scarter1 0:020db18a476d 20 typedef double _max_velocity_type;
scarter1 0:020db18a476d 21 _max_velocity_type max_velocity;
scarter1 0:020db18a476d 22
scarter1 0:020db18a476d 23 SingleJointPositionGoal():
scarter1 0:020db18a476d 24 position(0),
scarter1 0:020db18a476d 25 min_duration(),
scarter1 0:020db18a476d 26 max_velocity(0)
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 }
scarter1 0:020db18a476d 29
scarter1 0:020db18a476d 30 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 31 {
scarter1 0:020db18a476d 32 int offset = 0;
scarter1 0:020db18a476d 33 union {
scarter1 0:020db18a476d 34 double real;
scarter1 0:020db18a476d 35 uint64_t base;
scarter1 0:020db18a476d 36 } u_position;
scarter1 0:020db18a476d 37 u_position.real = this->position;
scarter1 0:020db18a476d 38 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 39 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 46 offset += sizeof(this->position);
scarter1 0:020db18a476d 47 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 49 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 50 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 51 offset += sizeof(this->min_duration.sec);
scarter1 0:020db18a476d 52 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 55 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 56 offset += sizeof(this->min_duration.nsec);
scarter1 0:020db18a476d 57 union {
scarter1 0:020db18a476d 58 double real;
scarter1 0:020db18a476d 59 uint64_t base;
scarter1 0:020db18a476d 60 } u_max_velocity;
scarter1 0:020db18a476d 61 u_max_velocity.real = this->max_velocity;
scarter1 0:020db18a476d 62 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 64 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 65 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 67 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 68 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 69 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 70 offset += sizeof(this->max_velocity);
scarter1 0:020db18a476d 71 return offset;
scarter1 0:020db18a476d 72 }
scarter1 0:020db18a476d 73
scarter1 0:020db18a476d 74 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 75 {
scarter1 0:020db18a476d 76 int offset = 0;
scarter1 0:020db18a476d 77 union {
scarter1 0:020db18a476d 78 double real;
scarter1 0:020db18a476d 79 uint64_t base;
scarter1 0:020db18a476d 80 } u_position;
scarter1 0:020db18a476d 81 u_position.base = 0;
scarter1 0:020db18a476d 82 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 83 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 84 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 85 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 86 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 87 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 88 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 89 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 90 this->position = u_position.real;
scarter1 0:020db18a476d 91 offset += sizeof(this->position);
scarter1 0:020db18a476d 92 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 93 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 94 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 95 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 96 offset += sizeof(this->min_duration.sec);
scarter1 0:020db18a476d 97 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 98 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 99 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 100 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 101 offset += sizeof(this->min_duration.nsec);
scarter1 0:020db18a476d 102 union {
scarter1 0:020db18a476d 103 double real;
scarter1 0:020db18a476d 104 uint64_t base;
scarter1 0:020db18a476d 105 } u_max_velocity;
scarter1 0:020db18a476d 106 u_max_velocity.base = 0;
scarter1 0:020db18a476d 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 112 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 113 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 114 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 115 this->max_velocity = u_max_velocity.real;
scarter1 0:020db18a476d 116 offset += sizeof(this->max_velocity);
scarter1 0:020db18a476d 117 return offset;
scarter1 0:020db18a476d 118 }
scarter1 0:020db18a476d 119
scarter1 0:020db18a476d 120 const char * getType(){ return "control_msgs/SingleJointPositionGoal"; };
scarter1 0:020db18a476d 121 const char * getMD5(){ return "fbaaa562a23a013fd5053e5f72cbb35c"; };
scarter1 0:020db18a476d 122
scarter1 0:020db18a476d 123 };
scarter1 0:020db18a476d 124
scarter1 0:020db18a476d 125 }
scarter1 0:020db18a476d 126 #endif