GripperCommand.h

00001 #ifndef _ROS_control_msgs_GripperCommand_h
00002 #define _ROS_control_msgs_GripperCommand_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace control_msgs
00010 {
00011 
00012   class GripperCommand : public ros::Msg
00013   {
00014     public:
00015       typedef double _position_type;
00016       _position_type position;
00017       typedef double _max_effort_type;
00018       _max_effort_type max_effort;
00019 
00020     GripperCommand():
00021       position(0),
00022       max_effort(0)
00023     {
00024     }
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       union {
00030         double real;
00031         uint64_t base;
00032       } u_position;
00033       u_position.real = this->position;
00034       *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
00035       *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
00036       *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
00037       *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
00038       *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
00039       *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
00040       *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
00041       *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
00042       offset += sizeof(this->position);
00043       union {
00044         double real;
00045         uint64_t base;
00046       } u_max_effort;
00047       u_max_effort.real = this->max_effort;
00048       *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
00049       *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
00050       *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
00051       *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
00052       *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
00053       *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
00054       *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
00055       *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
00056       offset += sizeof(this->max_effort);
00057       return offset;
00058     }
00059 
00060     virtual int deserialize(unsigned char *inbuffer)
00061     {
00062       int offset = 0;
00063       union {
00064         double real;
00065         uint64_t base;
00066       } u_position;
00067       u_position.base = 0;
00068       u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00069       u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00070       u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00071       u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00072       u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00073       u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00074       u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00075       u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00076       this->position = u_position.real;
00077       offset += sizeof(this->position);
00078       union {
00079         double real;
00080         uint64_t base;
00081       } u_max_effort;
00082       u_max_effort.base = 0;
00083       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00084       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00085       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00086       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00087       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00088       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00089       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00090       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00091       this->max_effort = u_max_effort.real;
00092       offset += sizeof(this->max_effort);
00093      return offset;
00094     }
00095 
00096     const char * getType(){ return "control_msgs/GripperCommand"; };
00097     const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
00098 
00099   };
00100 
00101 }
00102 #endif