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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/control_msgs/PointHeadGoal.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_PointHeadGoal_h
scarter1 0:020db18a476d 2 #define _ROS_control_msgs_PointHeadGoal_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 "geometry_msgs/PointStamped.h"
scarter1 0:020db18a476d 9 #include "geometry_msgs/Vector3.h"
scarter1 0:020db18a476d 10 #include "ros/duration.h"
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 namespace control_msgs
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14
scarter1 0:020db18a476d 15 class PointHeadGoal : public ros::Msg
scarter1 0:020db18a476d 16 {
scarter1 0:020db18a476d 17 public:
scarter1 0:020db18a476d 18 typedef geometry_msgs::PointStamped _target_type;
scarter1 0:020db18a476d 19 _target_type target;
scarter1 0:020db18a476d 20 typedef geometry_msgs::Vector3 _pointing_axis_type;
scarter1 0:020db18a476d 21 _pointing_axis_type pointing_axis;
scarter1 0:020db18a476d 22 typedef const char* _pointing_frame_type;
scarter1 0:020db18a476d 23 _pointing_frame_type pointing_frame;
scarter1 0:020db18a476d 24 typedef ros::Duration _min_duration_type;
scarter1 0:020db18a476d 25 _min_duration_type min_duration;
scarter1 0:020db18a476d 26 typedef double _max_velocity_type;
scarter1 0:020db18a476d 27 _max_velocity_type max_velocity;
scarter1 0:020db18a476d 28
scarter1 0:020db18a476d 29 PointHeadGoal():
scarter1 0:020db18a476d 30 target(),
scarter1 0:020db18a476d 31 pointing_axis(),
scarter1 0:020db18a476d 32 pointing_frame(""),
scarter1 0:020db18a476d 33 min_duration(),
scarter1 0:020db18a476d 34 max_velocity(0)
scarter1 0:020db18a476d 35 {
scarter1 0:020db18a476d 36 }
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 39 {
scarter1 0:020db18a476d 40 int offset = 0;
scarter1 0:020db18a476d 41 offset += this->target.serialize(outbuffer + offset);
scarter1 0:020db18a476d 42 offset += this->pointing_axis.serialize(outbuffer + offset);
scarter1 0:020db18a476d 43 uint32_t length_pointing_frame = strlen(this->pointing_frame);
scarter1 0:020db18a476d 44 varToArr(outbuffer + offset, length_pointing_frame);
scarter1 0:020db18a476d 45 offset += 4;
scarter1 0:020db18a476d 46 memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
scarter1 0:020db18a476d 47 offset += length_pointing_frame;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 49 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 50 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 51 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 52 offset += sizeof(this->min_duration.sec);
scarter1 0:020db18a476d 53 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 55 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 56 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 57 offset += sizeof(this->min_duration.nsec);
scarter1 0:020db18a476d 58 union {
scarter1 0:020db18a476d 59 double real;
scarter1 0:020db18a476d 60 uint64_t base;
scarter1 0:020db18a476d 61 } u_max_velocity;
scarter1 0:020db18a476d 62 u_max_velocity.real = this->max_velocity;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 64 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 65 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 67 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 68 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 69 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 70 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 71 offset += sizeof(this->max_velocity);
scarter1 0:020db18a476d 72 return offset;
scarter1 0:020db18a476d 73 }
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 76 {
scarter1 0:020db18a476d 77 int offset = 0;
scarter1 0:020db18a476d 78 offset += this->target.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 79 offset += this->pointing_axis.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 80 uint32_t length_pointing_frame;
scarter1 0:020db18a476d 81 arrToVar(length_pointing_frame, (inbuffer + offset));
scarter1 0:020db18a476d 82 offset += 4;
scarter1 0:020db18a476d 83 for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
scarter1 0:020db18a476d 84 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 85 }
scarter1 0:020db18a476d 86 inbuffer[offset+length_pointing_frame-1]=0;
scarter1 0:020db18a476d 87 this->pointing_frame = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 88 offset += length_pointing_frame;
scarter1 0:020db18a476d 89 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 90 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 91 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 92 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 93 offset += sizeof(this->min_duration.sec);
scarter1 0:020db18a476d 94 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 95 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 96 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 97 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 98 offset += sizeof(this->min_duration.nsec);
scarter1 0:020db18a476d 99 union {
scarter1 0:020db18a476d 100 double real;
scarter1 0:020db18a476d 101 uint64_t base;
scarter1 0:020db18a476d 102 } u_max_velocity;
scarter1 0:020db18a476d 103 u_max_velocity.base = 0;
scarter1 0:020db18a476d 104 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 105 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 106 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 112 this->max_velocity = u_max_velocity.real;
scarter1 0:020db18a476d 113 offset += sizeof(this->max_velocity);
scarter1 0:020db18a476d 114 return offset;
scarter1 0:020db18a476d 115 }
scarter1 0:020db18a476d 116
scarter1 0:020db18a476d 117 const char * getType(){ return "control_msgs/PointHeadGoal"; };
scarter1 0:020db18a476d 118 const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
scarter1 0:020db18a476d 119
scarter1 0:020db18a476d 120 };
scarter1 0:020db18a476d 121
scarter1 0:020db18a476d 122 }
scarter1 0:020db18a476d 123 #endif