57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
gazebo_msgs/ApplyJointEffort.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_ApplyJointEffort_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_ApplyJointEffort_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/duration.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "ros/time.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace gazebo_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort"; |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class ApplyJointEffortRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | typedef const char* _joint_name_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _joint_name_type joint_name; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef double _effort_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _effort_type effort; |
garyservin | 0:9e9b7db60fd5 | 22 | typedef ros::Time _start_time_type; |
garyservin | 0:9e9b7db60fd5 | 23 | _start_time_type start_time; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef ros::Duration _duration_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _duration_type duration; |
garyservin | 0:9e9b7db60fd5 | 26 | |
garyservin | 0:9e9b7db60fd5 | 27 | ApplyJointEffortRequest(): |
garyservin | 0:9e9b7db60fd5 | 28 | joint_name(""), |
garyservin | 0:9e9b7db60fd5 | 29 | effort(0), |
garyservin | 0:9e9b7db60fd5 | 30 | start_time(), |
garyservin | 0:9e9b7db60fd5 | 31 | duration() |
garyservin | 0:9e9b7db60fd5 | 32 | { |
garyservin | 0:9e9b7db60fd5 | 33 | } |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 36 | { |
garyservin | 0:9e9b7db60fd5 | 37 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 38 | uint32_t length_joint_name = strlen(this->joint_name); |
garyservin | 0:9e9b7db60fd5 | 39 | varToArr(outbuffer + offset, length_joint_name); |
garyservin | 0:9e9b7db60fd5 | 40 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 41 | memcpy(outbuffer + offset, this->joint_name, length_joint_name); |
garyservin | 0:9e9b7db60fd5 | 42 | offset += length_joint_name; |
garyservin | 0:9e9b7db60fd5 | 43 | union { |
garyservin | 0:9e9b7db60fd5 | 44 | double real; |
garyservin | 0:9e9b7db60fd5 | 45 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 46 | } u_effort; |
garyservin | 0:9e9b7db60fd5 | 47 | u_effort.real = this->effort; |
garyservin | 0:9e9b7db60fd5 | 48 | *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 49 | *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 50 | *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 51 | *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 56 | offset += sizeof(this->effort); |
garyservin | 0:9e9b7db60fd5 | 57 | *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 58 | *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 59 | *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | offset += sizeof(this->start_time.sec); |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | offset += sizeof(this->start_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 67 | *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 68 | *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 71 | offset += sizeof(this->duration.sec); |
garyservin | 0:9e9b7db60fd5 | 72 | *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | offset += sizeof(this->duration.nsec); |
garyservin | 0:9e9b7db60fd5 | 77 | return offset; |
garyservin | 0:9e9b7db60fd5 | 78 | } |
garyservin | 0:9e9b7db60fd5 | 79 | |
garyservin | 0:9e9b7db60fd5 | 80 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 81 | { |
garyservin | 0:9e9b7db60fd5 | 82 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 83 | uint32_t length_joint_name; |
garyservin | 0:9e9b7db60fd5 | 84 | arrToVar(length_joint_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 85 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 86 | for(unsigned int k= offset; k< offset+length_joint_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 87 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 88 | } |
garyservin | 0:9e9b7db60fd5 | 89 | inbuffer[offset+length_joint_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 90 | this->joint_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 91 | offset += length_joint_name; |
garyservin | 0:9e9b7db60fd5 | 92 | union { |
garyservin | 0:9e9b7db60fd5 | 93 | double real; |
garyservin | 0:9e9b7db60fd5 | 94 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 95 | } u_effort; |
garyservin | 0:9e9b7db60fd5 | 96 | u_effort.base = 0; |
garyservin | 0:9e9b7db60fd5 | 97 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 98 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 99 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 100 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 101 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 102 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 103 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 104 | u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 105 | this->effort = u_effort.real; |
garyservin | 0:9e9b7db60fd5 | 106 | offset += sizeof(this->effort); |
garyservin | 0:9e9b7db60fd5 | 107 | this->start_time.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 108 | this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 109 | this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 110 | this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 111 | offset += sizeof(this->start_time.sec); |
garyservin | 0:9e9b7db60fd5 | 112 | this->start_time.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 113 | this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 114 | this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 115 | this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 116 | offset += sizeof(this->start_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 117 | this->duration.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 118 | this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 119 | this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 120 | this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 121 | offset += sizeof(this->duration.sec); |
garyservin | 0:9e9b7db60fd5 | 122 | this->duration.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 123 | this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 124 | this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 125 | this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 126 | offset += sizeof(this->duration.nsec); |
garyservin | 0:9e9b7db60fd5 | 127 | return offset; |
garyservin | 0:9e9b7db60fd5 | 128 | } |
garyservin | 0:9e9b7db60fd5 | 129 | |
garyservin | 0:9e9b7db60fd5 | 130 | const char * getType(){ return APPLYJOINTEFFORT; }; |
garyservin | 0:9e9b7db60fd5 | 131 | const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; }; |
garyservin | 0:9e9b7db60fd5 | 132 | |
garyservin | 0:9e9b7db60fd5 | 133 | }; |
garyservin | 0:9e9b7db60fd5 | 134 | |
garyservin | 0:9e9b7db60fd5 | 135 | class ApplyJointEffortResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 136 | { |
garyservin | 0:9e9b7db60fd5 | 137 | public: |
garyservin | 0:9e9b7db60fd5 | 138 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 139 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 140 | typedef const char* _status_message_type; |
garyservin | 0:9e9b7db60fd5 | 141 | _status_message_type status_message; |
garyservin | 0:9e9b7db60fd5 | 142 | |
garyservin | 0:9e9b7db60fd5 | 143 | ApplyJointEffortResponse(): |
garyservin | 0:9e9b7db60fd5 | 144 | success(0), |
garyservin | 0:9e9b7db60fd5 | 145 | status_message("") |
garyservin | 0:9e9b7db60fd5 | 146 | { |
garyservin | 0:9e9b7db60fd5 | 147 | } |
garyservin | 0:9e9b7db60fd5 | 148 | |
garyservin | 0:9e9b7db60fd5 | 149 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 150 | { |
garyservin | 0:9e9b7db60fd5 | 151 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 152 | union { |
garyservin | 0:9e9b7db60fd5 | 153 | bool real; |
garyservin | 0:9e9b7db60fd5 | 154 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 155 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 156 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 157 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 158 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 159 | uint32_t length_status_message = strlen(this->status_message); |
garyservin | 0:9e9b7db60fd5 | 160 | varToArr(outbuffer + offset, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 161 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 162 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 163 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 164 | return offset; |
garyservin | 0:9e9b7db60fd5 | 165 | } |
garyservin | 0:9e9b7db60fd5 | 166 | |
garyservin | 0:9e9b7db60fd5 | 167 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 168 | { |
garyservin | 0:9e9b7db60fd5 | 169 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 170 | union { |
garyservin | 0:9e9b7db60fd5 | 171 | bool real; |
garyservin | 0:9e9b7db60fd5 | 172 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 173 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 174 | u_success.base = 0; |
garyservin | 0:9e9b7db60fd5 | 175 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 176 | this->success = u_success.real; |
garyservin | 0:9e9b7db60fd5 | 177 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 178 | uint32_t length_status_message; |
garyservin | 0:9e9b7db60fd5 | 179 | arrToVar(length_status_message, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 180 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 181 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
garyservin | 0:9e9b7db60fd5 | 182 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 183 | } |
garyservin | 0:9e9b7db60fd5 | 184 | inbuffer[offset+length_status_message-1]=0; |
garyservin | 0:9e9b7db60fd5 | 185 | this->status_message = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 186 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 187 | return offset; |
garyservin | 0:9e9b7db60fd5 | 188 | } |
garyservin | 0:9e9b7db60fd5 | 189 | |
garyservin | 0:9e9b7db60fd5 | 190 | const char * getType(){ return APPLYJOINTEFFORT; }; |
garyservin | 0:9e9b7db60fd5 | 191 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
garyservin | 0:9e9b7db60fd5 | 192 | |
garyservin | 0:9e9b7db60fd5 | 193 | }; |
garyservin | 0:9e9b7db60fd5 | 194 | |
garyservin | 0:9e9b7db60fd5 | 195 | class ApplyJointEffort { |
garyservin | 0:9e9b7db60fd5 | 196 | public: |
garyservin | 0:9e9b7db60fd5 | 197 | typedef ApplyJointEffortRequest Request; |
garyservin | 0:9e9b7db60fd5 | 198 | typedef ApplyJointEffortResponse Response; |
garyservin | 0:9e9b7db60fd5 | 199 | }; |
garyservin | 0:9e9b7db60fd5 | 200 | |
garyservin | 0:9e9b7db60fd5 | 201 | } |
garyservin | 0:9e9b7db60fd5 | 202 | #endif |