Soft robot team
ros melodic library with custom message
Dependents: Robot_team1_QEI_Douglas Robot_team1
Diff: ros_lib/control_msgs/PidState.h
- Revision:
- 0:020db18a476d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib/control_msgs/PidState.h Wed Oct 30 14:59:49 2019 +0000
@@ -0,0 +1,420 @@
+#ifndef _ROS_control_msgs_PidState_h
+#define _ROS_control_msgs_PidState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+ class PidState : public ros::Msg
+ {
+ public:
+ typedef std_msgs::Header _header_type;
+ _header_type header;
+ typedef ros::Duration _timestep_type;
+ _timestep_type timestep;
+ typedef double _error_type;
+ _error_type error;
+ typedef double _error_dot_type;
+ _error_dot_type error_dot;
+ typedef double _p_error_type;
+ _p_error_type p_error;
+ typedef double _i_error_type;
+ _i_error_type i_error;
+ typedef double _d_error_type;
+ _d_error_type d_error;
+ typedef double _p_term_type;
+ _p_term_type p_term;
+ typedef double _i_term_type;
+ _i_term_type i_term;
+ typedef double _d_term_type;
+ _d_term_type d_term;
+ typedef double _i_max_type;
+ _i_max_type i_max;
+ typedef double _i_min_type;
+ _i_min_type i_min;
+ typedef double _output_type;
+ _output_type output;
+
+ PidState():
+ header(),
+ timestep(),
+ error(0),
+ error_dot(0),
+ p_error(0),
+ i_error(0),
+ d_error(0),
+ p_term(0),
+ i_term(0),
+ d_term(0),
+ i_max(0),
+ i_min(0),
+ output(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ offset += this->header.serialize(outbuffer + offset);
+ *(outbuffer + offset + 0) = (this->timestep.sec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->timestep.sec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->timestep.sec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->timestep.sec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->timestep.sec);
+ *(outbuffer + offset + 0) = (this->timestep.nsec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->timestep.nsec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->timestep.nsec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->timestep.nsec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->timestep.nsec);
+ union {
+ double real;
+ uint64_t base;
+ } u_error;
+ u_error.real = this->error;
+ *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->error);
+ union {
+ double real;
+ uint64_t base;
+ } u_error_dot;
+ u_error_dot.real = this->error_dot;
+ *(outbuffer + offset + 0) = (u_error_dot.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_error_dot.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_error_dot.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_error_dot.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_error_dot.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_error_dot.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_error_dot.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_error_dot.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->error_dot);
+ union {
+ double real;
+ uint64_t base;
+ } u_p_error;
+ u_p_error.real = this->p_error;
+ *(outbuffer + offset + 0) = (u_p_error.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_p_error.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_p_error.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_p_error.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_p_error.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_p_error.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_p_error.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_p_error.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->p_error);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_error;
+ u_i_error.real = this->i_error;
+ *(outbuffer + offset + 0) = (u_i_error.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i_error.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i_error.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i_error.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i_error.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i_error.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i_error.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i_error.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i_error);
+ union {
+ double real;
+ uint64_t base;
+ } u_d_error;
+ u_d_error.real = this->d_error;
+ *(outbuffer + offset + 0) = (u_d_error.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_d_error.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_d_error.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_d_error.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_d_error.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_d_error.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_d_error.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_d_error.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->d_error);
+ union {
+ double real;
+ uint64_t base;
+ } u_p_term;
+ u_p_term.real = this->p_term;
+ *(outbuffer + offset + 0) = (u_p_term.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_p_term.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_p_term.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_p_term.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_p_term.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_p_term.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_p_term.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_p_term.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->p_term);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_term;
+ u_i_term.real = this->i_term;
+ *(outbuffer + offset + 0) = (u_i_term.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i_term.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i_term.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i_term.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i_term.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i_term.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i_term.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i_term.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i_term);
+ union {
+ double real;
+ uint64_t base;
+ } u_d_term;
+ u_d_term.real = this->d_term;
+ *(outbuffer + offset + 0) = (u_d_term.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_d_term.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_d_term.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_d_term.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_d_term.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_d_term.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_d_term.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_d_term.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->d_term);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_max;
+ u_i_max.real = this->i_max;
+ *(outbuffer + offset + 0) = (u_i_max.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i_max.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i_max.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i_max.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i_max.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i_max.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i_max.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i_max.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i_max);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_min;
+ u_i_min.real = this->i_min;
+ *(outbuffer + offset + 0) = (u_i_min.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i_min.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i_min.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i_min.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i_min.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i_min.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i_min.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i_min.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i_min);
+ union {
+ double real;
+ uint64_t base;
+ } u_output;
+ u_output.real = this->output;
+ *(outbuffer + offset + 0) = (u_output.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_output.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_output.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_output.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_output.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_output.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_output.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_output.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->output);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->header.deserialize(inbuffer + offset);
+ this->timestep.sec = ((uint32_t) (*(inbuffer + offset)));
+ this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->timestep.sec);
+ this->timestep.nsec = ((uint32_t) (*(inbuffer + offset)));
+ this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->timestep.nsec);
+ union {
+ double real;
+ uint64_t base;
+ } u_error;
+ u_error.base = 0;
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->error = u_error.real;
+ offset += sizeof(this->error);
+ union {
+ double real;
+ uint64_t base;
+ } u_error_dot;
+ u_error_dot.base = 0;
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->error_dot = u_error_dot.real;
+ offset += sizeof(this->error_dot);
+ union {
+ double real;
+ uint64_t base;
+ } u_p_error;
+ u_p_error.base = 0;
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->p_error = u_p_error.real;
+ offset += sizeof(this->p_error);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_error;
+ u_i_error.base = 0;
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i_error = u_i_error.real;
+ offset += sizeof(this->i_error);
+ union {
+ double real;
+ uint64_t base;
+ } u_d_error;
+ u_d_error.base = 0;
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->d_error = u_d_error.real;
+ offset += sizeof(this->d_error);
+ union {
+ double real;
+ uint64_t base;
+ } u_p_term;
+ u_p_term.base = 0;
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->p_term = u_p_term.real;
+ offset += sizeof(this->p_term);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_term;
+ u_i_term.base = 0;
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i_term = u_i_term.real;
+ offset += sizeof(this->i_term);
+ union {
+ double real;
+ uint64_t base;
+ } u_d_term;
+ u_d_term.base = 0;
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->d_term = u_d_term.real;
+ offset += sizeof(this->d_term);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_max;
+ u_i_max.base = 0;
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i_max = u_i_max.real;
+ offset += sizeof(this->i_max);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_min;
+ u_i_min.base = 0;
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i_min = u_i_min.real;
+ offset += sizeof(this->i_min);
+ union {
+ double real;
+ uint64_t base;
+ } u_output;
+ u_output.base = 0;
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_output.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->output = u_output.real;
+ offset += sizeof(this->output);
+ return offset;
+ }
+
+ const char * getType(){ return "control_msgs/PidState"; };
+ const char * getMD5(){ return "b138ec00e886c10e73f27e8712252ea6"; };
+
+ };
+
+}
+#endif