catchrobo2022
/
catchrobo2022_mbed
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StateStruct.h
00001 #ifndef _ROS_catchrobo_msgs_StateStruct_h 00002 #define _ROS_catchrobo_msgs_StateStruct_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 StateStruct : public ros::Msg 00013 { 00014 public: 00015 typedef int32_t _id_type; 00016 _id_type id; 00017 typedef double _position_type; 00018 _position_type position; 00019 typedef double _velocity_type; 00020 _velocity_type velocity; 00021 typedef double _torque_type; 00022 _torque_type torque; 00023 00024 StateStruct(): 00025 id(0), 00026 position(0), 00027 velocity(0), 00028 torque(0) 00029 { 00030 } 00031 00032 virtual int serialize(unsigned char *outbuffer) const 00033 { 00034 int offset = 0; 00035 union { 00036 int32_t real; 00037 uint32_t base; 00038 } u_id; 00039 u_id.real = this->id; 00040 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF; 00041 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF; 00042 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF; 00043 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF; 00044 offset += sizeof(this->id); 00045 union { 00046 double real; 00047 uint64_t base; 00048 } u_position; 00049 u_position.real = this->position; 00050 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF; 00051 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF; 00052 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF; 00053 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF; 00054 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF; 00055 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF; 00056 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF; 00057 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF; 00058 offset += sizeof(this->position); 00059 union { 00060 double real; 00061 uint64_t base; 00062 } u_velocity; 00063 u_velocity.real = this->velocity; 00064 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF; 00065 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF; 00066 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF; 00067 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF; 00068 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF; 00069 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF; 00070 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF; 00071 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF; 00072 offset += sizeof(this->velocity); 00073 union { 00074 double real; 00075 uint64_t base; 00076 } u_torque; 00077 u_torque.real = this->torque; 00078 *(outbuffer + offset + 0) = (u_torque.base >> (8 * 0)) & 0xFF; 00079 *(outbuffer + offset + 1) = (u_torque.base >> (8 * 1)) & 0xFF; 00080 *(outbuffer + offset + 2) = (u_torque.base >> (8 * 2)) & 0xFF; 00081 *(outbuffer + offset + 3) = (u_torque.base >> (8 * 3)) & 0xFF; 00082 *(outbuffer + offset + 4) = (u_torque.base >> (8 * 4)) & 0xFF; 00083 *(outbuffer + offset + 5) = (u_torque.base >> (8 * 5)) & 0xFF; 00084 *(outbuffer + offset + 6) = (u_torque.base >> (8 * 6)) & 0xFF; 00085 *(outbuffer + offset + 7) = (u_torque.base >> (8 * 7)) & 0xFF; 00086 offset += sizeof(this->torque); 00087 return offset; 00088 } 00089 00090 virtual int deserialize(unsigned char *inbuffer) 00091 { 00092 int offset = 0; 00093 union { 00094 int32_t real; 00095 uint32_t base; 00096 } u_id; 00097 u_id.base = 0; 00098 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00099 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00100 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00101 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00102 this->id = u_id.real; 00103 offset += sizeof(this->id); 00104 union { 00105 double real; 00106 uint64_t base; 00107 } u_position; 00108 u_position.base = 0; 00109 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00110 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00111 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00112 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00113 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00114 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00115 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00116 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00117 this->position = u_position.real; 00118 offset += sizeof(this->position); 00119 union { 00120 double real; 00121 uint64_t base; 00122 } u_velocity; 00123 u_velocity.base = 0; 00124 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00125 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00126 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00127 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00128 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00129 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00130 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00131 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00132 this->velocity = u_velocity.real; 00133 offset += sizeof(this->velocity); 00134 union { 00135 double real; 00136 uint64_t base; 00137 } u_torque; 00138 u_torque.base = 0; 00139 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00140 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00141 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00142 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00143 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00144 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00145 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00146 u_torque.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00147 this->torque = u_torque.real; 00148 offset += sizeof(this->torque); 00149 return offset; 00150 } 00151 00152 virtual const char * getType(){ return "catchrobo_msgs/StateStruct"; }; 00153 virtual const char * getMD5(){ return "08201bc0324dade56d4c8aa1ed222913"; }; 00154 00155 }; 00156 00157 } 00158 #endif
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