Jesi Miranda
/
ros_lib_kinetic_jesi
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PidState.h
00001 #ifndef _ROS_control_msgs_PidState_h 00002 #define _ROS_control_msgs_PidState_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 "ros/duration.h" 00010 00011 namespace control_msgs 00012 { 00013 00014 class PidState : public ros::Msg 00015 { 00016 public: 00017 typedef std_msgs::Header _header_type; 00018 _header_type header; 00019 typedef ros::Duration _timestep_type; 00020 _timestep_type timestep; 00021 typedef double _error_type; 00022 _error_type error; 00023 typedef double _error_dot_type; 00024 _error_dot_type error_dot; 00025 typedef double _p_error_type; 00026 _p_error_type p_error; 00027 typedef double _i_error_type; 00028 _i_error_type i_error; 00029 typedef double _d_error_type; 00030 _d_error_type d_error; 00031 typedef double _p_term_type; 00032 _p_term_type p_term; 00033 typedef double _i_term_type; 00034 _i_term_type i_term; 00035 typedef double _d_term_type; 00036 _d_term_type d_term; 00037 typedef double _i_max_type; 00038 _i_max_type i_max; 00039 typedef double _i_min_type; 00040 _i_min_type i_min; 00041 typedef double _output_type; 00042 _output_type output; 00043 00044 PidState(): 00045 header(), 00046 timestep(), 00047 error(0), 00048 error_dot(0), 00049 p_error(0), 00050 i_error(0), 00051 d_error(0), 00052 p_term(0), 00053 i_term(0), 00054 d_term(0), 00055 i_max(0), 00056 i_min(0), 00057 output(0) 00058 { 00059 } 00060 00061 virtual int serialize(unsigned char *outbuffer) const 00062 { 00063 int offset = 0; 00064 offset += this->header.serialize(outbuffer + offset); 00065 *(outbuffer + offset + 0) = (this->timestep.sec >> (8 * 0)) & 0xFF; 00066 *(outbuffer + offset + 1) = (this->timestep.sec >> (8 * 1)) & 0xFF; 00067 *(outbuffer + offset + 2) = (this->timestep.sec >> (8 * 2)) & 0xFF; 00068 *(outbuffer + offset + 3) = (this->timestep.sec >> (8 * 3)) & 0xFF; 00069 offset += sizeof(this->timestep.sec); 00070 *(outbuffer + offset + 0) = (this->timestep.nsec >> (8 * 0)) & 0xFF; 00071 *(outbuffer + offset + 1) = (this->timestep.nsec >> (8 * 1)) & 0xFF; 00072 *(outbuffer + offset + 2) = (this->timestep.nsec >> (8 * 2)) & 0xFF; 00073 *(outbuffer + offset + 3) = (this->timestep.nsec >> (8 * 3)) & 0xFF; 00074 offset += sizeof(this->timestep.nsec); 00075 union { 00076 double real; 00077 uint64_t base; 00078 } u_error; 00079 u_error.real = this->error; 00080 *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF; 00081 *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF; 00082 *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF; 00083 *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF; 00084 *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF; 00085 *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF; 00086 *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF; 00087 *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF; 00088 offset += sizeof(this->error); 00089 union { 00090 double real; 00091 uint64_t base; 00092 } u_error_dot; 00093 u_error_dot.real = this->error_dot; 00094 *(outbuffer + offset + 0) = (u_error_dot.base >> (8 * 0)) & 0xFF; 00095 *(outbuffer + offset + 1) = (u_error_dot.base >> (8 * 1)) & 0xFF; 00096 *(outbuffer + offset + 2) = (u_error_dot.base >> (8 * 2)) & 0xFF; 00097 *(outbuffer + offset + 3) = (u_error_dot.base >> (8 * 3)) & 0xFF; 00098 *(outbuffer + offset + 4) = (u_error_dot.base >> (8 * 4)) & 0xFF; 00099 *(outbuffer + offset + 5) = (u_error_dot.base >> (8 * 5)) & 0xFF; 00100 *(outbuffer + offset + 6) = (u_error_dot.base >> (8 * 6)) & 0xFF; 00101 *(outbuffer + offset + 7) = (u_error_dot.base >> (8 * 7)) & 0xFF; 00102 offset += sizeof(this->error_dot); 00103 union { 00104 double real; 00105 uint64_t base; 00106 } u_p_error; 00107 u_p_error.real = this->p_error; 00108 *(outbuffer + offset + 0) = (u_p_error.base >> (8 * 0)) & 0xFF; 00109 *(outbuffer + offset + 1) = (u_p_error.base >> (8 * 1)) & 0xFF; 00110 *(outbuffer + offset + 2) = (u_p_error.base >> (8 * 2)) & 0xFF; 00111 *(outbuffer + offset + 3) = (u_p_error.base >> (8 * 3)) & 0xFF; 00112 *(outbuffer + offset + 4) = (u_p_error.base >> (8 * 4)) & 0xFF; 00113 *(outbuffer + offset + 5) = (u_p_error.base >> (8 * 5)) & 0xFF; 00114 *(outbuffer + offset + 6) = (u_p_error.base >> (8 * 6)) & 0xFF; 00115 *(outbuffer + offset + 7) = (u_p_error.base >> (8 * 7)) & 0xFF; 00116 offset += sizeof(this->p_error); 00117 union { 00118 double real; 00119 uint64_t base; 00120 } u_i_error; 00121 u_i_error.real = this->i_error; 00122 *(outbuffer + offset + 0) = (u_i_error.base >> (8 * 0)) & 0xFF; 00123 *(outbuffer + offset + 1) = (u_i_error.base >> (8 * 1)) & 0xFF; 00124 *(outbuffer + offset + 2) = (u_i_error.base >> (8 * 2)) & 0xFF; 00125 *(outbuffer + offset + 3) = (u_i_error.base >> (8 * 3)) & 0xFF; 00126 *(outbuffer + offset + 4) = (u_i_error.base >> (8 * 4)) & 0xFF; 00127 *(outbuffer + offset + 5) = (u_i_error.base >> (8 * 5)) & 0xFF; 00128 *(outbuffer + offset + 6) = (u_i_error.base >> (8 * 6)) & 0xFF; 00129 *(outbuffer + offset + 7) = (u_i_error.base >> (8 * 7)) & 0xFF; 00130 offset += sizeof(this->i_error); 00131 union { 00132 double real; 00133 uint64_t base; 00134 } u_d_error; 00135 u_d_error.real = this->d_error; 00136 *(outbuffer + offset + 0) = (u_d_error.base >> (8 * 0)) & 0xFF; 00137 *(outbuffer + offset + 1) = (u_d_error.base >> (8 * 1)) & 0xFF; 00138 *(outbuffer + offset + 2) = (u_d_error.base >> (8 * 2)) & 0xFF; 00139 *(outbuffer + offset + 3) = (u_d_error.base >> (8 * 3)) & 0xFF; 00140 *(outbuffer + offset + 4) = (u_d_error.base >> (8 * 4)) & 0xFF; 00141 *(outbuffer + offset + 5) = (u_d_error.base >> (8 * 5)) & 0xFF; 00142 *(outbuffer + offset + 6) = (u_d_error.base >> (8 * 6)) & 0xFF; 00143 *(outbuffer + offset + 7) = (u_d_error.base >> (8 * 7)) & 0xFF; 00144 offset += sizeof(this->d_error); 00145 union { 00146 double real; 00147 uint64_t base; 00148 } u_p_term; 00149 u_p_term.real = this->p_term; 00150 *(outbuffer + offset + 0) = (u_p_term.base >> (8 * 0)) & 0xFF; 00151 *(outbuffer + offset + 1) = (u_p_term.base >> (8 * 1)) & 0xFF; 00152 *(outbuffer + offset + 2) = (u_p_term.base >> (8 * 2)) & 0xFF; 00153 *(outbuffer + offset + 3) = (u_p_term.base >> (8 * 3)) & 0xFF; 00154 *(outbuffer + offset + 4) = (u_p_term.base >> (8 * 4)) & 0xFF; 00155 *(outbuffer + offset + 5) = (u_p_term.base >> (8 * 5)) & 0xFF; 00156 *(outbuffer + offset + 6) = (u_p_term.base >> (8 * 6)) & 0xFF; 00157 *(outbuffer + offset + 7) = (u_p_term.base >> (8 * 7)) & 0xFF; 00158 offset += sizeof(this->p_term); 00159 union { 00160 double real; 00161 uint64_t base; 00162 } u_i_term; 00163 u_i_term.real = this->i_term; 00164 *(outbuffer + offset + 0) = (u_i_term.base >> (8 * 0)) & 0xFF; 00165 *(outbuffer + offset + 1) = (u_i_term.base >> (8 * 1)) & 0xFF; 00166 *(outbuffer + offset + 2) = (u_i_term.base >> (8 * 2)) & 0xFF; 00167 *(outbuffer + offset + 3) = (u_i_term.base >> (8 * 3)) & 0xFF; 00168 *(outbuffer + offset + 4) = (u_i_term.base >> (8 * 4)) & 0xFF; 00169 *(outbuffer + offset + 5) = (u_i_term.base >> (8 * 5)) & 0xFF; 00170 *(outbuffer + offset + 6) = (u_i_term.base >> (8 * 6)) & 0xFF; 00171 *(outbuffer + offset + 7) = (u_i_term.base >> (8 * 7)) & 0xFF; 00172 offset += sizeof(this->i_term); 00173 union { 00174 double real; 00175 uint64_t base; 00176 } u_d_term; 00177 u_d_term.real = this->d_term; 00178 *(outbuffer + offset + 0) = (u_d_term.base >> (8 * 0)) & 0xFF; 00179 *(outbuffer + offset + 1) = (u_d_term.base >> (8 * 1)) & 0xFF; 00180 *(outbuffer + offset + 2) = (u_d_term.base >> (8 * 2)) & 0xFF; 00181 *(outbuffer + offset + 3) = (u_d_term.base >> (8 * 3)) & 0xFF; 00182 *(outbuffer + offset + 4) = (u_d_term.base >> (8 * 4)) & 0xFF; 00183 *(outbuffer + offset + 5) = (u_d_term.base >> (8 * 5)) & 0xFF; 00184 *(outbuffer + offset + 6) = (u_d_term.base >> (8 * 6)) & 0xFF; 00185 *(outbuffer + offset + 7) = (u_d_term.base >> (8 * 7)) & 0xFF; 00186 offset += sizeof(this->d_term); 00187 union { 00188 double real; 00189 uint64_t base; 00190 } u_i_max; 00191 u_i_max.real = this->i_max; 00192 *(outbuffer + offset + 0) = (u_i_max.base >> (8 * 0)) & 0xFF; 00193 *(outbuffer + offset + 1) = (u_i_max.base >> (8 * 1)) & 0xFF; 00194 *(outbuffer + offset + 2) = (u_i_max.base >> (8 * 2)) & 0xFF; 00195 *(outbuffer + offset + 3) = (u_i_max.base >> (8 * 3)) & 0xFF; 00196 *(outbuffer + offset + 4) = (u_i_max.base >> (8 * 4)) & 0xFF; 00197 *(outbuffer + offset + 5) = (u_i_max.base >> (8 * 5)) & 0xFF; 00198 *(outbuffer + offset + 6) = (u_i_max.base >> (8 * 6)) & 0xFF; 00199 *(outbuffer + offset + 7) = (u_i_max.base >> (8 * 7)) & 0xFF; 00200 offset += sizeof(this->i_max); 00201 union { 00202 double real; 00203 uint64_t base; 00204 } u_i_min; 00205 u_i_min.real = this->i_min; 00206 *(outbuffer + offset + 0) = (u_i_min.base >> (8 * 0)) & 0xFF; 00207 *(outbuffer + offset + 1) = (u_i_min.base >> (8 * 1)) & 0xFF; 00208 *(outbuffer + offset + 2) = (u_i_min.base >> (8 * 2)) & 0xFF; 00209 *(outbuffer + offset + 3) = (u_i_min.base >> (8 * 3)) & 0xFF; 00210 *(outbuffer + offset + 4) = (u_i_min.base >> (8 * 4)) & 0xFF; 00211 *(outbuffer + offset + 5) = (u_i_min.base >> (8 * 5)) & 0xFF; 00212 *(outbuffer + offset + 6) = (u_i_min.base >> (8 * 6)) & 0xFF; 00213 *(outbuffer + offset + 7) = (u_i_min.base >> (8 * 7)) & 0xFF; 00214 offset += sizeof(this->i_min); 00215 union { 00216 double real; 00217 uint64_t base; 00218 } u_output; 00219 u_output.real = this->output; 00220 *(outbuffer + offset + 0) = (u_output.base >> (8 * 0)) & 0xFF; 00221 *(outbuffer + offset + 1) = (u_output.base >> (8 * 1)) & 0xFF; 00222 *(outbuffer + offset + 2) = (u_output.base >> (8 * 2)) & 0xFF; 00223 *(outbuffer + offset + 3) = (u_output.base >> (8 * 3)) & 0xFF; 00224 *(outbuffer + offset + 4) = (u_output.base >> (8 * 4)) & 0xFF; 00225 *(outbuffer + offset + 5) = (u_output.base >> (8 * 5)) & 0xFF; 00226 *(outbuffer + offset + 6) = (u_output.base >> (8 * 6)) & 0xFF; 00227 *(outbuffer + offset + 7) = (u_output.base >> (8 * 7)) & 0xFF; 00228 offset += sizeof(this->output); 00229 return offset; 00230 } 00231 00232 virtual int deserialize(unsigned char *inbuffer) 00233 { 00234 int offset = 0; 00235 offset += this->header.deserialize(inbuffer + offset); 00236 this->timestep.sec = ((uint32_t) (*(inbuffer + offset))); 00237 this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00238 this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00239 this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00240 offset += sizeof(this->timestep.sec); 00241 this->timestep.nsec = ((uint32_t) (*(inbuffer + offset))); 00242 this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00243 this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00244 this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00245 offset += sizeof(this->timestep.nsec); 00246 union { 00247 double real; 00248 uint64_t base; 00249 } u_error; 00250 u_error.base = 0; 00251 u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00252 u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00253 u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00254 u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00255 u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00256 u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00257 u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00258 u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00259 this->error = u_error.real; 00260 offset += sizeof(this->error); 00261 union { 00262 double real; 00263 uint64_t base; 00264 } u_error_dot; 00265 u_error_dot.base = 0; 00266 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00267 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00268 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00269 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00270 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00271 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00272 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00273 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00274 this->error_dot = u_error_dot.real; 00275 offset += sizeof(this->error_dot); 00276 union { 00277 double real; 00278 uint64_t base; 00279 } u_p_error; 00280 u_p_error.base = 0; 00281 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00282 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00283 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00284 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00285 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00286 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00287 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00288 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00289 this->p_error = u_p_error.real; 00290 offset += sizeof(this->p_error); 00291 union { 00292 double real; 00293 uint64_t base; 00294 } u_i_error; 00295 u_i_error.base = 0; 00296 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00297 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00298 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00299 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00300 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00301 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00302 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00303 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00304 this->i_error = u_i_error.real; 00305 offset += sizeof(this->i_error); 00306 union { 00307 double real; 00308 uint64_t base; 00309 } u_d_error; 00310 u_d_error.base = 0; 00311 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00312 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00313 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00314 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00315 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00316 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00317 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00318 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00319 this->d_error = u_d_error.real; 00320 offset += sizeof(this->d_error); 00321 union { 00322 double real; 00323 uint64_t base; 00324 } u_p_term; 00325 u_p_term.base = 0; 00326 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00327 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00328 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00329 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00330 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00331 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00332 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00333 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00334 this->p_term = u_p_term.real; 00335 offset += sizeof(this->p_term); 00336 union { 00337 double real; 00338 uint64_t base; 00339 } u_i_term; 00340 u_i_term.base = 0; 00341 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00342 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00343 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00344 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00345 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00346 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00347 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00348 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00349 this->i_term = u_i_term.real; 00350 offset += sizeof(this->i_term); 00351 union { 00352 double real; 00353 uint64_t base; 00354 } u_d_term; 00355 u_d_term.base = 0; 00356 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00357 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00358 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00359 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00360 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00361 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00362 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00363 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00364 this->d_term = u_d_term.real; 00365 offset += sizeof(this->d_term); 00366 union { 00367 double real; 00368 uint64_t base; 00369 } u_i_max; 00370 u_i_max.base = 0; 00371 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00372 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00373 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00374 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00375 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00376 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00377 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00378 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00379 this->i_max = u_i_max.real; 00380 offset += sizeof(this->i_max); 00381 union { 00382 double real; 00383 uint64_t base; 00384 } u_i_min; 00385 u_i_min.base = 0; 00386 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00387 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00388 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00389 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00390 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00391 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00392 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00393 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00394 this->i_min = u_i_min.real; 00395 offset += sizeof(this->i_min); 00396 union { 00397 double real; 00398 uint64_t base; 00399 } u_output; 00400 u_output.base = 0; 00401 u_output.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00402 u_output.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00403 u_output.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00404 u_output.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00405 u_output.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00406 u_output.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00407 u_output.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00408 u_output.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00409 this->output = u_output.real; 00410 offset += sizeof(this->output); 00411 return offset; 00412 } 00413 00414 const char * getType(){ return "control_msgs/PidState"; }; 00415 const char * getMD5(){ return "b138ec00e886c10e73f27e8712252ea6"; }; 00416 00417 }; 00418 00419 } 00420 #endif
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