MultiDOFJointTrajectory.h

00001 #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
00002 #define _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "trajectory_msgs/MultiDOFJointTrajectoryPoint.h"
00010 
00011 namespace trajectory_msgs
00012 {
00013 
00014   class MultiDOFJointTrajectory : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       uint32_t joint_names_length;
00020       typedef char* _joint_names_type;
00021       _joint_names_type st_joint_names;
00022       _joint_names_type * joint_names;
00023       uint32_t points_length;
00024       typedef trajectory_msgs::MultiDOFJointTrajectoryPoint _points_type;
00025       _points_type st_points;
00026       _points_type * points;
00027 
00028     MultiDOFJointTrajectory():
00029       header(),
00030       joint_names_length(0), joint_names(NULL),
00031       points_length(0), points(NULL)
00032     {
00033     }
00034 
00035     virtual int serialize(unsigned char *outbuffer) const
00036     {
00037       int offset = 0;
00038       offset += this->header.serialize(outbuffer + offset);
00039       *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
00043       offset += sizeof(this->joint_names_length);
00044       for( uint32_t i = 0; i < joint_names_length; i++){
00045       uint32_t length_joint_namesi = strlen(this->joint_names[i]);
00046       varToArr(outbuffer + offset, length_joint_namesi);
00047       offset += 4;
00048       memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
00049       offset += length_joint_namesi;
00050       }
00051       *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
00052       *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
00053       *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
00054       *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
00055       offset += sizeof(this->points_length);
00056       for( uint32_t i = 0; i < points_length; i++){
00057       offset += this->points[i].serialize(outbuffer + offset);
00058       }
00059       return offset;
00060     }
00061 
00062     virtual int deserialize(unsigned char *inbuffer)
00063     {
00064       int offset = 0;
00065       offset += this->header.deserialize(inbuffer + offset);
00066       uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00067       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00068       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00069       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00070       offset += sizeof(this->joint_names_length);
00071       if(joint_names_lengthT > joint_names_length)
00072         this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
00073       joint_names_length = joint_names_lengthT;
00074       for( uint32_t i = 0; i < joint_names_length; i++){
00075       uint32_t length_st_joint_names;
00076       arrToVar(length_st_joint_names, (inbuffer + offset));
00077       offset += 4;
00078       for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
00079           inbuffer[k-1]=inbuffer[k];
00080       }
00081       inbuffer[offset+length_st_joint_names-1]=0;
00082       this->st_joint_names = (char *)(inbuffer + offset-1);
00083       offset += length_st_joint_names;
00084         memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
00085       }
00086       uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00087       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00088       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00089       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00090       offset += sizeof(this->points_length);
00091       if(points_lengthT > points_length)
00092         this->points = (trajectory_msgs::MultiDOFJointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
00093       points_length = points_lengthT;
00094       for( uint32_t i = 0; i < points_length; i++){
00095       offset += this->st_points.deserialize(inbuffer + offset);
00096         memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
00097       }
00098      return offset;
00099     }
00100 
00101     const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectory"; };
00102     const char * getMD5(){ return "ef145a45a5f47b77b7f5cdde4b16c942"; };
00103 
00104   };
00105 
00106 }
00107 #endif