Fork of ROS Serial Library
Dependencies: BufferedSerial
control_msgs/FollowJointTrajectoryGoal.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h #define _ROS_control_msgs_FollowJointTrajectoryGoal_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "trajectory_msgs/JointTrajectory.h" #include "control_msgs/JointTolerance.h" #include "ros/duration.h" namespace control_msgs { class FollowJointTrajectoryGoal : public ros::Msg { public: typedef trajectory_msgs::JointTrajectory _trajectory_type; _trajectory_type trajectory; uint32_t path_tolerance_length; typedef control_msgs::JointTolerance _path_tolerance_type; _path_tolerance_type st_path_tolerance; _path_tolerance_type * path_tolerance; uint32_t goal_tolerance_length; typedef control_msgs::JointTolerance _goal_tolerance_type; _goal_tolerance_type st_goal_tolerance; _goal_tolerance_type * goal_tolerance; typedef ros::Duration _goal_time_tolerance_type; _goal_time_tolerance_type goal_time_tolerance; FollowJointTrajectoryGoal(): trajectory(), path_tolerance_length(0), path_tolerance(NULL), goal_tolerance_length(0), goal_tolerance(NULL), goal_time_tolerance() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->trajectory.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->path_tolerance_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->path_tolerance_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->path_tolerance_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->path_tolerance_length >> (8 * 3)) & 0xFF; offset += sizeof(this->path_tolerance_length); for( uint32_t i = 0; i < path_tolerance_length; i++){ offset += this->path_tolerance[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->goal_tolerance_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->goal_tolerance_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->goal_tolerance_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->goal_tolerance_length >> (8 * 3)) & 0xFF; offset += sizeof(this->goal_tolerance_length); for( uint32_t i = 0; i < goal_tolerance_length; i++){ offset += this->goal_tolerance[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->goal_time_tolerance.sec); *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->goal_time_tolerance.nsec); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->trajectory.deserialize(inbuffer + offset); uint32_t path_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->path_tolerance_length); if(path_tolerance_lengthT > path_tolerance_length) this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); path_tolerance_length = path_tolerance_lengthT; for( uint32_t i = 0; i < path_tolerance_length; i++){ offset += this->st_path_tolerance.deserialize(inbuffer + offset); memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance)); } uint32_t goal_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->goal_tolerance_length); if(goal_tolerance_lengthT > goal_tolerance_length) this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); goal_tolerance_length = goal_tolerance_lengthT; for( uint32_t i = 0; i < goal_tolerance_length; i++){ offset += this->st_goal_tolerance.deserialize(inbuffer + offset); memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance)); } this->goal_time_tolerance.sec = ((uint32_t) (*(inbuffer + offset))); this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->goal_time_tolerance.sec); this->goal_time_tolerance.nsec = ((uint32_t) (*(inbuffer + offset))); this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->goal_time_tolerance.nsec); return offset; } const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; }; const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; }; }; } #endif