a
Diff: sensor_msgs/JointState.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/JointState.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,237 @@ +#ifndef _ROS_sensor_msgs_JointState_h +#define _ROS_sensor_msgs_JointState_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" + +namespace sensor_msgs +{ + + class JointState : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + uint32_t name_length; + typedef char* _name_type; + _name_type st_name; + _name_type * name; + uint32_t position_length; + typedef double _position_type; + _position_type st_position; + _position_type * position; + uint32_t velocity_length; + typedef double _velocity_type; + _velocity_type st_velocity; + _velocity_type * velocity; + uint32_t effort_length; + typedef double _effort_type; + _effort_type st_effort; + _effort_type * effort; + + JointState(): + header(), + name_length(0), name(NULL), + position_length(0), position(NULL), + velocity_length(0), velocity(NULL), + effort_length(0), effort(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->name_length); + for( uint32_t i = 0; i < name_length; i++){ + uint32_t length_namei = strlen(this->name[i]); + varToArr(outbuffer + offset, length_namei); + offset += 4; + memcpy(outbuffer + offset, this->name[i], length_namei); + offset += length_namei; + } + *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->position_length); + for( uint32_t i = 0; i < position_length; i++){ + union { + double real; + uint64_t base; + } u_positioni; + u_positioni.real = this->position[i]; + *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->position[i]); + } + *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->velocity_length); + for( uint32_t i = 0; i < velocity_length; i++){ + union { + double real; + uint64_t base; + } u_velocityi; + u_velocityi.real = this->velocity[i]; + *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->velocity[i]); + } + *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->effort_length); + for( uint32_t i = 0; i < effort_length; i++){ + union { + double real; + uint64_t base; + } u_efforti; + u_efforti.real = this->effort[i]; + *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->effort[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); + name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->name_length); + if(name_lengthT > name_length) + this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*)); + name_length = name_lengthT; + for( uint32_t i = 0; i < name_length; i++){ + uint32_t length_st_name; + arrToVar(length_st_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_name-1]=0; + this->st_name = (char *)(inbuffer + offset-1); + offset += length_st_name; + memcpy( &(this->name[i]), &(this->st_name), sizeof(char*)); + } + uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); + position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->position_length); + if(position_lengthT > position_length) + this->position = (double*)realloc(this->position, position_lengthT * sizeof(double)); + position_length = position_lengthT; + for( uint32_t i = 0; i < position_length; i++){ + union { + double real; + uint64_t base; + } u_st_position; + u_st_position.base = 0; + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_position = u_st_position.real; + offset += sizeof(this->st_position); + memcpy( &(this->position[i]), &(this->st_position), sizeof(double)); + } + uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset))); + velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->velocity_length); + if(velocity_lengthT > velocity_length) + this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double)); + velocity_length = velocity_lengthT; + for( uint32_t i = 0; i < velocity_length; i++){ + union { + double real; + uint64_t base; + } u_st_velocity; + u_st_velocity.base = 0; + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_velocity = u_st_velocity.real; + offset += sizeof(this->st_velocity); + memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double)); + } + uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset))); + effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->effort_length); + if(effort_lengthT > effort_length) + this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double)); + effort_length = effort_lengthT; + for( uint32_t i = 0; i < effort_length; i++){ + union { + double real; + uint64_t base; + } u_st_effort; + u_st_effort.base = 0; + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_effort = u_st_effort.real; + offset += sizeof(this->st_effort); + memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double)); + } + return offset; + } + + const char * getType(){ return "sensor_msgs/JointState"; }; + const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; }; + + }; + +} +#endif \ No newline at end of file