catchrobo2022
/
catchrobo2022_mbed
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ControlStruct.h
00001 #ifndef _ROS_catchrobo_msgs_ControlStruct_h 00002 #define _ROS_catchrobo_msgs_ControlStruct_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace catchrobo_msgs 00010 { 00011 00012 class ControlStruct : public ros::Msg 00013 { 00014 public: 00015 typedef int32_t _id_type; 00016 _id_type id; 00017 typedef double _p_des_type; 00018 _p_des_type p_des; 00019 typedef double _v_des_type; 00020 _v_des_type v_des; 00021 typedef double _torque_feed_forward_type; 00022 _torque_feed_forward_type torque_feed_forward; 00023 typedef double _kp_type; 00024 _kp_type kp; 00025 typedef double _kd_type; 00026 _kd_type kd; 00027 00028 ControlStruct(): 00029 id(0), 00030 p_des(0), 00031 v_des(0), 00032 torque_feed_forward(0), 00033 kp(0), 00034 kd(0) 00035 { 00036 } 00037 00038 virtual int serialize(unsigned char *outbuffer) const 00039 { 00040 int offset = 0; 00041 union { 00042 int32_t real; 00043 uint32_t base; 00044 } u_id; 00045 u_id.real = this->id; 00046 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF; 00047 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF; 00048 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF; 00049 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF; 00050 offset += sizeof(this->id); 00051 union { 00052 double real; 00053 uint64_t base; 00054 } u_p_des; 00055 u_p_des.real = this->p_des; 00056 *(outbuffer + offset + 0) = (u_p_des.base >> (8 * 0)) & 0xFF; 00057 *(outbuffer + offset + 1) = (u_p_des.base >> (8 * 1)) & 0xFF; 00058 *(outbuffer + offset + 2) = (u_p_des.base >> (8 * 2)) & 0xFF; 00059 *(outbuffer + offset + 3) = (u_p_des.base >> (8 * 3)) & 0xFF; 00060 *(outbuffer + offset + 4) = (u_p_des.base >> (8 * 4)) & 0xFF; 00061 *(outbuffer + offset + 5) = (u_p_des.base >> (8 * 5)) & 0xFF; 00062 *(outbuffer + offset + 6) = (u_p_des.base >> (8 * 6)) & 0xFF; 00063 *(outbuffer + offset + 7) = (u_p_des.base >> (8 * 7)) & 0xFF; 00064 offset += sizeof(this->p_des); 00065 union { 00066 double real; 00067 uint64_t base; 00068 } u_v_des; 00069 u_v_des.real = this->v_des; 00070 *(outbuffer + offset + 0) = (u_v_des.base >> (8 * 0)) & 0xFF; 00071 *(outbuffer + offset + 1) = (u_v_des.base >> (8 * 1)) & 0xFF; 00072 *(outbuffer + offset + 2) = (u_v_des.base >> (8 * 2)) & 0xFF; 00073 *(outbuffer + offset + 3) = (u_v_des.base >> (8 * 3)) & 0xFF; 00074 *(outbuffer + offset + 4) = (u_v_des.base >> (8 * 4)) & 0xFF; 00075 *(outbuffer + offset + 5) = (u_v_des.base >> (8 * 5)) & 0xFF; 00076 *(outbuffer + offset + 6) = (u_v_des.base >> (8 * 6)) & 0xFF; 00077 *(outbuffer + offset + 7) = (u_v_des.base >> (8 * 7)) & 0xFF; 00078 offset += sizeof(this->v_des); 00079 union { 00080 double real; 00081 uint64_t base; 00082 } u_torque_feed_forward; 00083 u_torque_feed_forward.real = this->torque_feed_forward; 00084 *(outbuffer + offset + 0) = (u_torque_feed_forward.base >> (8 * 0)) & 0xFF; 00085 *(outbuffer + offset + 1) = (u_torque_feed_forward.base >> (8 * 1)) & 0xFF; 00086 *(outbuffer + offset + 2) = (u_torque_feed_forward.base >> (8 * 2)) & 0xFF; 00087 *(outbuffer + offset + 3) = (u_torque_feed_forward.base >> (8 * 3)) & 0xFF; 00088 *(outbuffer + offset + 4) = (u_torque_feed_forward.base >> (8 * 4)) & 0xFF; 00089 *(outbuffer + offset + 5) = (u_torque_feed_forward.base >> (8 * 5)) & 0xFF; 00090 *(outbuffer + offset + 6) = (u_torque_feed_forward.base >> (8 * 6)) & 0xFF; 00091 *(outbuffer + offset + 7) = (u_torque_feed_forward.base >> (8 * 7)) & 0xFF; 00092 offset += sizeof(this->torque_feed_forward); 00093 union { 00094 double real; 00095 uint64_t base; 00096 } u_kp; 00097 u_kp.real = this->kp; 00098 *(outbuffer + offset + 0) = (u_kp.base >> (8 * 0)) & 0xFF; 00099 *(outbuffer + offset + 1) = (u_kp.base >> (8 * 1)) & 0xFF; 00100 *(outbuffer + offset + 2) = (u_kp.base >> (8 * 2)) & 0xFF; 00101 *(outbuffer + offset + 3) = (u_kp.base >> (8 * 3)) & 0xFF; 00102 *(outbuffer + offset + 4) = (u_kp.base >> (8 * 4)) & 0xFF; 00103 *(outbuffer + offset + 5) = (u_kp.base >> (8 * 5)) & 0xFF; 00104 *(outbuffer + offset + 6) = (u_kp.base >> (8 * 6)) & 0xFF; 00105 *(outbuffer + offset + 7) = (u_kp.base >> (8 * 7)) & 0xFF; 00106 offset += sizeof(this->kp); 00107 union { 00108 double real; 00109 uint64_t base; 00110 } u_kd; 00111 u_kd.real = this->kd; 00112 *(outbuffer + offset + 0) = (u_kd.base >> (8 * 0)) & 0xFF; 00113 *(outbuffer + offset + 1) = (u_kd.base >> (8 * 1)) & 0xFF; 00114 *(outbuffer + offset + 2) = (u_kd.base >> (8 * 2)) & 0xFF; 00115 *(outbuffer + offset + 3) = (u_kd.base >> (8 * 3)) & 0xFF; 00116 *(outbuffer + offset + 4) = (u_kd.base >> (8 * 4)) & 0xFF; 00117 *(outbuffer + offset + 5) = (u_kd.base >> (8 * 5)) & 0xFF; 00118 *(outbuffer + offset + 6) = (u_kd.base >> (8 * 6)) & 0xFF; 00119 *(outbuffer + offset + 7) = (u_kd.base >> (8 * 7)) & 0xFF; 00120 offset += sizeof(this->kd); 00121 return offset; 00122 } 00123 00124 virtual int deserialize(unsigned char *inbuffer) 00125 { 00126 int offset = 0; 00127 union { 00128 int32_t real; 00129 uint32_t base; 00130 } u_id; 00131 u_id.base = 0; 00132 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00133 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00134 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00135 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00136 this->id = u_id.real; 00137 offset += sizeof(this->id); 00138 union { 00139 double real; 00140 uint64_t base; 00141 } u_p_des; 00142 u_p_des.base = 0; 00143 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00144 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00145 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00146 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00147 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00148 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00149 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00150 u_p_des.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00151 this->p_des = u_p_des.real; 00152 offset += sizeof(this->p_des); 00153 union { 00154 double real; 00155 uint64_t base; 00156 } u_v_des; 00157 u_v_des.base = 0; 00158 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00159 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00160 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00161 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00162 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00163 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00164 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00165 u_v_des.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00166 this->v_des = u_v_des.real; 00167 offset += sizeof(this->v_des); 00168 union { 00169 double real; 00170 uint64_t base; 00171 } u_torque_feed_forward; 00172 u_torque_feed_forward.base = 0; 00173 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00174 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00175 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00176 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00177 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00178 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00179 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00180 u_torque_feed_forward.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00181 this->torque_feed_forward = u_torque_feed_forward.real; 00182 offset += sizeof(this->torque_feed_forward); 00183 union { 00184 double real; 00185 uint64_t base; 00186 } u_kp; 00187 u_kp.base = 0; 00188 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00189 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00190 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00191 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00192 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00193 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00194 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00195 u_kp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00196 this->kp = u_kp.real; 00197 offset += sizeof(this->kp); 00198 union { 00199 double real; 00200 uint64_t base; 00201 } u_kd; 00202 u_kd.base = 0; 00203 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00204 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00205 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00206 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00207 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00208 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00209 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00210 u_kd.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00211 this->kd = u_kd.real; 00212 offset += sizeof(this->kd); 00213 return offset; 00214 } 00215 00216 virtual const char * getType(){ return "catchrobo_msgs/ControlStruct"; }; 00217 virtual const char * getMD5(){ return "85eed48bd859421add1590c25dc8235c"; }; 00218 00219 }; 00220 00221 } 00222 #endif
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