catchrobo2022
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catchrobo2022_mbed
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JointConstraint.h
00001 #ifndef _ROS_moveit_msgs_JointConstraint_h 00002 #define _ROS_moveit_msgs_JointConstraint_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace moveit_msgs 00010 { 00011 00012 class JointConstraint : public ros::Msg 00013 { 00014 public: 00015 typedef const char* _joint_name_type; 00016 _joint_name_type joint_name; 00017 typedef double _position_type; 00018 _position_type position; 00019 typedef double _tolerance_above_type; 00020 _tolerance_above_type tolerance_above; 00021 typedef double _tolerance_below_type; 00022 _tolerance_below_type tolerance_below; 00023 typedef double _weight_type; 00024 _weight_type weight; 00025 00026 JointConstraint(): 00027 joint_name(""), 00028 position(0), 00029 tolerance_above(0), 00030 tolerance_below(0), 00031 weight(0) 00032 { 00033 } 00034 00035 virtual int serialize(unsigned char *outbuffer) const 00036 { 00037 int offset = 0; 00038 uint32_t length_joint_name = strlen(this->joint_name); 00039 varToArr(outbuffer + offset, length_joint_name); 00040 offset += 4; 00041 memcpy(outbuffer + offset, this->joint_name, length_joint_name); 00042 offset += length_joint_name; 00043 union { 00044 double real; 00045 uint64_t base; 00046 } u_position; 00047 u_position.real = this->position; 00048 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF; 00049 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF; 00050 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF; 00051 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF; 00052 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF; 00053 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF; 00054 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF; 00055 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF; 00056 offset += sizeof(this->position); 00057 union { 00058 double real; 00059 uint64_t base; 00060 } u_tolerance_above; 00061 u_tolerance_above.real = this->tolerance_above; 00062 *(outbuffer + offset + 0) = (u_tolerance_above.base >> (8 * 0)) & 0xFF; 00063 *(outbuffer + offset + 1) = (u_tolerance_above.base >> (8 * 1)) & 0xFF; 00064 *(outbuffer + offset + 2) = (u_tolerance_above.base >> (8 * 2)) & 0xFF; 00065 *(outbuffer + offset + 3) = (u_tolerance_above.base >> (8 * 3)) & 0xFF; 00066 *(outbuffer + offset + 4) = (u_tolerance_above.base >> (8 * 4)) & 0xFF; 00067 *(outbuffer + offset + 5) = (u_tolerance_above.base >> (8 * 5)) & 0xFF; 00068 *(outbuffer + offset + 6) = (u_tolerance_above.base >> (8 * 6)) & 0xFF; 00069 *(outbuffer + offset + 7) = (u_tolerance_above.base >> (8 * 7)) & 0xFF; 00070 offset += sizeof(this->tolerance_above); 00071 union { 00072 double real; 00073 uint64_t base; 00074 } u_tolerance_below; 00075 u_tolerance_below.real = this->tolerance_below; 00076 *(outbuffer + offset + 0) = (u_tolerance_below.base >> (8 * 0)) & 0xFF; 00077 *(outbuffer + offset + 1) = (u_tolerance_below.base >> (8 * 1)) & 0xFF; 00078 *(outbuffer + offset + 2) = (u_tolerance_below.base >> (8 * 2)) & 0xFF; 00079 *(outbuffer + offset + 3) = (u_tolerance_below.base >> (8 * 3)) & 0xFF; 00080 *(outbuffer + offset + 4) = (u_tolerance_below.base >> (8 * 4)) & 0xFF; 00081 *(outbuffer + offset + 5) = (u_tolerance_below.base >> (8 * 5)) & 0xFF; 00082 *(outbuffer + offset + 6) = (u_tolerance_below.base >> (8 * 6)) & 0xFF; 00083 *(outbuffer + offset + 7) = (u_tolerance_below.base >> (8 * 7)) & 0xFF; 00084 offset += sizeof(this->tolerance_below); 00085 union { 00086 double real; 00087 uint64_t base; 00088 } u_weight; 00089 u_weight.real = this->weight; 00090 *(outbuffer + offset + 0) = (u_weight.base >> (8 * 0)) & 0xFF; 00091 *(outbuffer + offset + 1) = (u_weight.base >> (8 * 1)) & 0xFF; 00092 *(outbuffer + offset + 2) = (u_weight.base >> (8 * 2)) & 0xFF; 00093 *(outbuffer + offset + 3) = (u_weight.base >> (8 * 3)) & 0xFF; 00094 *(outbuffer + offset + 4) = (u_weight.base >> (8 * 4)) & 0xFF; 00095 *(outbuffer + offset + 5) = (u_weight.base >> (8 * 5)) & 0xFF; 00096 *(outbuffer + offset + 6) = (u_weight.base >> (8 * 6)) & 0xFF; 00097 *(outbuffer + offset + 7) = (u_weight.base >> (8 * 7)) & 0xFF; 00098 offset += sizeof(this->weight); 00099 return offset; 00100 } 00101 00102 virtual int deserialize(unsigned char *inbuffer) 00103 { 00104 int offset = 0; 00105 uint32_t length_joint_name; 00106 arrToVar(length_joint_name, (inbuffer + offset)); 00107 offset += 4; 00108 for(unsigned int k= offset; k< offset+length_joint_name; ++k){ 00109 inbuffer[k-1]=inbuffer[k]; 00110 } 00111 inbuffer[offset+length_joint_name-1]=0; 00112 this->joint_name = (char *)(inbuffer + offset-1); 00113 offset += length_joint_name; 00114 union { 00115 double real; 00116 uint64_t base; 00117 } u_position; 00118 u_position.base = 0; 00119 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00120 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00121 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00122 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00123 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00124 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00125 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00126 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00127 this->position = u_position.real; 00128 offset += sizeof(this->position); 00129 union { 00130 double real; 00131 uint64_t base; 00132 } u_tolerance_above; 00133 u_tolerance_above.base = 0; 00134 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00135 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00136 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00137 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00138 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00139 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00140 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00141 u_tolerance_above.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00142 this->tolerance_above = u_tolerance_above.real; 00143 offset += sizeof(this->tolerance_above); 00144 union { 00145 double real; 00146 uint64_t base; 00147 } u_tolerance_below; 00148 u_tolerance_below.base = 0; 00149 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00150 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00151 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00152 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00153 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00154 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00155 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00156 u_tolerance_below.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00157 this->tolerance_below = u_tolerance_below.real; 00158 offset += sizeof(this->tolerance_below); 00159 union { 00160 double real; 00161 uint64_t base; 00162 } u_weight; 00163 u_weight.base = 0; 00164 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00165 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00166 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00167 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00168 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00169 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00170 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00171 u_weight.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00172 this->weight = u_weight.real; 00173 offset += sizeof(this->weight); 00174 return offset; 00175 } 00176 00177 virtual const char * getType(){ return "moveit_msgs/JointConstraint"; }; 00178 virtual const char * getMD5(){ return "c02a15146bec0ce13564807805b008f0"; }; 00179 00180 }; 00181 00182 } 00183 #endif
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