change rate38400->115200
Fork of ros_lib_kinetic by
Diff: control_msgs/JointControllerState.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 control_msgs/JointControllerState.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control_msgs/JointControllerState.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,382 @@ +#ifndef _ROS_control_msgs_JointControllerState_h +#define _ROS_control_msgs_JointControllerState_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" + +namespace control_msgs +{ + + class JointControllerState : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + typedef double _set_point_type; + _set_point_type set_point; + typedef double _process_value_type; + _process_value_type process_value; + typedef double _process_value_dot_type; + _process_value_dot_type process_value_dot; + typedef double _error_type; + _error_type error; + typedef double _time_step_type; + _time_step_type time_step; + typedef double _command_type; + _command_type command; + typedef double _p_type; + _p_type p; + typedef double _i_type; + _i_type i; + typedef double _d_type; + _d_type d; + typedef double _i_clamp_type; + _i_clamp_type i_clamp; + typedef bool _antiwindup_type; + _antiwindup_type antiwindup; + + JointControllerState(): + header(), + set_point(0), + process_value(0), + process_value_dot(0), + error(0), + time_step(0), + command(0), + p(0), + i(0), + d(0), + i_clamp(0), + antiwindup(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + union { + double real; + uint64_t base; + } u_set_point; + u_set_point.real = this->set_point; + *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->set_point); + union { + double real; + uint64_t base; + } u_process_value; + u_process_value.real = this->process_value; + *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->process_value); + union { + double real; + uint64_t base; + } u_process_value_dot; + u_process_value_dot.real = this->process_value_dot; + *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->process_value_dot); + union { + double real; + uint64_t base; + } u_error; + u_error.real = this->error; + *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->error); + union { + double real; + uint64_t base; + } u_time_step; + u_time_step.real = this->time_step; + *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->time_step); + union { + double real; + uint64_t base; + } u_command; + u_command.real = this->command; + *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->command); + union { + double real; + uint64_t base; + } u_p; + u_p.real = this->p; + *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->p); + union { + double real; + uint64_t base; + } u_i; + u_i.real = this->i; + *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i); + union { + double real; + uint64_t base; + } u_d; + u_d.real = this->d; + *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->d); + union { + double real; + uint64_t base; + } u_i_clamp; + u_i_clamp.real = this->i_clamp; + *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->i_clamp); + union { + bool real; + uint8_t base; + } u_antiwindup; + u_antiwindup.real = this->antiwindup; + *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->antiwindup); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + union { + double real; + uint64_t base; + } u_set_point; + u_set_point.base = 0; + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->set_point = u_set_point.real; + offset += sizeof(this->set_point); + union { + double real; + uint64_t base; + } u_process_value; + u_process_value.base = 0; + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->process_value = u_process_value.real; + offset += sizeof(this->process_value); + union { + double real; + uint64_t base; + } u_process_value_dot; + u_process_value_dot.base = 0; + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->process_value_dot = u_process_value_dot.real; + offset += sizeof(this->process_value_dot); + union { + double real; + uint64_t base; + } u_error; + u_error.base = 0; + u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->error = u_error.real; + offset += sizeof(this->error); + union { + double real; + uint64_t base; + } u_time_step; + u_time_step.base = 0; + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->time_step = u_time_step.real; + offset += sizeof(this->time_step); + union { + double real; + uint64_t base; + } u_command; + u_command.base = 0; + u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->command = u_command.real; + offset += sizeof(this->command); + union { + double real; + uint64_t base; + } u_p; + u_p.base = 0; + u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->p = u_p.real; + offset += sizeof(this->p); + union { + double real; + uint64_t base; + } u_i; + u_i.base = 0; + u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i = u_i.real; + offset += sizeof(this->i); + union { + double real; + uint64_t base; + } u_d; + u_d.base = 0; + u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->d = u_d.real; + offset += sizeof(this->d); + union { + double real; + uint64_t base; + } u_i_clamp; + u_i_clamp.base = 0; + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->i_clamp = u_i_clamp.real; + offset += sizeof(this->i_clamp); + union { + bool real; + uint8_t base; + } u_antiwindup; + u_antiwindup.base = 0; + u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->antiwindup = u_antiwindup.real; + offset += sizeof(this->antiwindup); + return offset; + } + + const char * getType(){ return "control_msgs/JointControllerState"; }; + const char * getMD5(){ return "987ad85e4756f3aef7f1e5e7fe0595d1"; }; + + }; + +} +#endif \ No newline at end of file