Soft robot team
ros melodic library with custom message
Dependents: Robot_team1_QEI_Douglas Robot_team1
Diff: ros_lib/control_msgs/JointControllerState.h
- Revision:
- 0:020db18a476d
diff -r 000000000000 -r 020db18a476d ros_lib/control_msgs/JointControllerState.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib/control_msgs/JointControllerState.h Wed Oct 30 14:59:49 2019 +0000
@@ -0,0 +1,382 @@
+#ifndef _ROS_control_msgs_JointControllerState_h
+#define _ROS_control_msgs_JointControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace control_msgs
+{
+
+ class JointControllerState : public ros::Msg
+ {
+ public:
+ typedef std_msgs::Header _header_type;
+ _header_type header;
+ typedef double _set_point_type;
+ _set_point_type set_point;
+ typedef double _process_value_type;
+ _process_value_type process_value;
+ typedef double _process_value_dot_type;
+ _process_value_dot_type process_value_dot;
+ typedef double _error_type;
+ _error_type error;
+ typedef double _time_step_type;
+ _time_step_type time_step;
+ typedef double _command_type;
+ _command_type command;
+ typedef double _p_type;
+ _p_type p;
+ typedef double _i_type;
+ _i_type i;
+ typedef double _d_type;
+ _d_type d;
+ typedef double _i_clamp_type;
+ _i_clamp_type i_clamp;
+ typedef bool _antiwindup_type;
+ _antiwindup_type antiwindup;
+
+ JointControllerState():
+ header(),
+ set_point(0),
+ process_value(0),
+ process_value_dot(0),
+ error(0),
+ time_step(0),
+ command(0),
+ p(0),
+ i(0),
+ d(0),
+ i_clamp(0),
+ antiwindup(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ offset += this->header.serialize(outbuffer + offset);
+ union {
+ double real;
+ uint64_t base;
+ } u_set_point;
+ u_set_point.real = this->set_point;
+ *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->set_point);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value;
+ u_process_value.real = this->process_value;
+ *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->process_value);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value_dot;
+ u_process_value_dot.real = this->process_value_dot;
+ *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->process_value_dot);
+ 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_time_step;
+ u_time_step.real = this->time_step;
+ *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->time_step);
+ union {
+ double real;
+ uint64_t base;
+ } u_command;
+ u_command.real = this->command;
+ *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->command);
+ union {
+ double real;
+ uint64_t base;
+ } u_p;
+ u_p.real = this->p;
+ *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->p);
+ union {
+ double real;
+ uint64_t base;
+ } u_i;
+ u_i.real = this->i;
+ *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i);
+ union {
+ double real;
+ uint64_t base;
+ } u_d;
+ u_d.real = this->d;
+ *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->d);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_clamp;
+ u_i_clamp.real = this->i_clamp;
+ *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i_clamp);
+ union {
+ bool real;
+ uint8_t base;
+ } u_antiwindup;
+ u_antiwindup.real = this->antiwindup;
+ *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->antiwindup);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->header.deserialize(inbuffer + offset);
+ union {
+ double real;
+ uint64_t base;
+ } u_set_point;
+ u_set_point.base = 0;
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->set_point = u_set_point.real;
+ offset += sizeof(this->set_point);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value;
+ u_process_value.base = 0;
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->process_value = u_process_value.real;
+ offset += sizeof(this->process_value);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value_dot;
+ u_process_value_dot.base = 0;
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->process_value_dot = u_process_value_dot.real;
+ offset += sizeof(this->process_value_dot);
+ 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_time_step;
+ u_time_step.base = 0;
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->time_step = u_time_step.real;
+ offset += sizeof(this->time_step);
+ union {
+ double real;
+ uint64_t base;
+ } u_command;
+ u_command.base = 0;
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->command = u_command.real;
+ offset += sizeof(this->command);
+ union {
+ double real;
+ uint64_t base;
+ } u_p;
+ u_p.base = 0;
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->p = u_p.real;
+ offset += sizeof(this->p);
+ union {
+ double real;
+ uint64_t base;
+ } u_i;
+ u_i.base = 0;
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i = u_i.real;
+ offset += sizeof(this->i);
+ union {
+ double real;
+ uint64_t base;
+ } u_d;
+ u_d.base = 0;
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->d = u_d.real;
+ offset += sizeof(this->d);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_clamp;
+ u_i_clamp.base = 0;
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i_clamp = u_i_clamp.real;
+ offset += sizeof(this->i_clamp);
+ union {
+ bool real;
+ uint8_t base;
+ } u_antiwindup;
+ u_antiwindup.base = 0;
+ u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->antiwindup = u_antiwindup.real;
+ offset += sizeof(this->antiwindup);
+ return offset;
+ }
+
+ const char * getType(){ return "control_msgs/JointControllerState"; };
+ const char * getMD5(){ return "987ad85e4756f3aef7f1e5e7fe0595d1"; };
+
+ };
+
+}
+#endif