Fork of ROS Serial Library
Dependencies: BufferedSerial
trajectory_msgs/MultiDOFJointTrajectoryPoint.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h #define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/Transform.h" #include "geometry_msgs/Twist.h" #include "ros/duration.h" namespace trajectory_msgs { class MultiDOFJointTrajectoryPoint : public ros::Msg { public: uint32_t transforms_length; typedef geometry_msgs::Transform _transforms_type; _transforms_type st_transforms; _transforms_type * transforms; uint32_t velocities_length; typedef geometry_msgs::Twist _velocities_type; _velocities_type st_velocities; _velocities_type * velocities; uint32_t accelerations_length; typedef geometry_msgs::Twist _accelerations_type; _accelerations_type st_accelerations; _accelerations_type * accelerations; typedef ros::Duration _time_from_start_type; _time_from_start_type time_from_start; MultiDOFJointTrajectoryPoint(): transforms_length(0), transforms(NULL), velocities_length(0), velocities(NULL), accelerations_length(0), accelerations(NULL), time_from_start() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; offset += sizeof(this->transforms_length); for( uint32_t i = 0; i < transforms_length; i++){ offset += this->transforms[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF; offset += sizeof(this->velocities_length); for( uint32_t i = 0; i < velocities_length; i++){ offset += this->velocities[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF; offset += sizeof(this->accelerations_length); for( uint32_t i = 0; i < accelerations_length; i++){ offset += this->accelerations[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->time_from_start.sec); *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->time_from_start.nsec); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->transforms_length); if(transforms_lengthT > transforms_length) this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform)); transforms_length = transforms_lengthT; for( uint32_t i = 0; i < transforms_length; i++){ offset += this->st_transforms.deserialize(inbuffer + offset); memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform)); } uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->velocities_length); if(velocities_lengthT > velocities_length) this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist)); velocities_length = velocities_lengthT; for( uint32_t i = 0; i < velocities_length; i++){ offset += this->st_velocities.deserialize(inbuffer + offset); memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist)); } uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->accelerations_length); if(accelerations_lengthT > accelerations_length) this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist)); accelerations_length = accelerations_lengthT; for( uint32_t i = 0; i < accelerations_length; i++){ offset += this->st_accelerations.deserialize(inbuffer + offset); memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist)); } this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset))); this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->time_from_start.sec); this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset))); this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->time_from_start.nsec); return offset; } const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; }; const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; }; }; } #endif