Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/control_msgs/GripperCommand.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_GripperCommand_h
scarter1 0:020db18a476d 2 #define _ROS_control_msgs_GripperCommand_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 GripperCommand : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 typedef double _position_type;
scarter1 0:020db18a476d 16 _position_type position;
scarter1 0:020db18a476d 17 typedef double _max_effort_type;
scarter1 0:020db18a476d 18 _max_effort_type max_effort;
scarter1 0:020db18a476d 19
scarter1 0:020db18a476d 20 GripperCommand():
scarter1 0:020db18a476d 21 position(0),
scarter1 0:020db18a476d 22 max_effort(0)
scarter1 0:020db18a476d 23 {
scarter1 0:020db18a476d 24 }
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 int offset = 0;
scarter1 0:020db18a476d 29 union {
scarter1 0:020db18a476d 30 double real;
scarter1 0:020db18a476d 31 uint64_t base;
scarter1 0:020db18a476d 32 } u_position;
scarter1 0:020db18a476d 33 u_position.real = this->position;
scarter1 0:020db18a476d 34 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 35 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 36 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 37 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 38 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 39 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 42 offset += sizeof(this->position);
scarter1 0:020db18a476d 43 union {
scarter1 0:020db18a476d 44 double real;
scarter1 0:020db18a476d 45 uint64_t base;
scarter1 0:020db18a476d 46 } u_max_effort;
scarter1 0:020db18a476d 47 u_max_effort.real = this->max_effort;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 49 *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 50 *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 52 *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 55 *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 56 offset += sizeof(this->max_effort);
scarter1 0:020db18a476d 57 return offset;
scarter1 0:020db18a476d 58 }
scarter1 0:020db18a476d 59
scarter1 0:020db18a476d 60 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 61 {
scarter1 0:020db18a476d 62 int offset = 0;
scarter1 0:020db18a476d 63 union {
scarter1 0:020db18a476d 64 double real;
scarter1 0:020db18a476d 65 uint64_t base;
scarter1 0:020db18a476d 66 } u_position;
scarter1 0:020db18a476d 67 u_position.base = 0;
scarter1 0:020db18a476d 68 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 69 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 70 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 71 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 72 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 73 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 74 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 75 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 76 this->position = u_position.real;
scarter1 0:020db18a476d 77 offset += sizeof(this->position);
scarter1 0:020db18a476d 78 union {
scarter1 0:020db18a476d 79 double real;
scarter1 0:020db18a476d 80 uint64_t base;
scarter1 0:020db18a476d 81 } u_max_effort;
scarter1 0:020db18a476d 82 u_max_effort.base = 0;
scarter1 0:020db18a476d 83 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 84 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 85 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 86 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 87 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 88 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 89 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 90 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 91 this->max_effort = u_max_effort.real;
scarter1 0:020db18a476d 92 offset += sizeof(this->max_effort);
scarter1 0:020db18a476d 93 return offset;
scarter1 0:020db18a476d 94 }
scarter1 0:020db18a476d 95
scarter1 0:020db18a476d 96 const char * getType(){ return "control_msgs/GripperCommand"; };
scarter1 0:020db18a476d 97 const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
scarter1 0:020db18a476d 98
scarter1 0:020db18a476d 99 };
scarter1 0:020db18a476d 100
scarter1 0:020db18a476d 101 }
scarter1 0:020db18a476d 102 #endif