Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

trajectory_msgs/JointTrajectoryPoint.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_trajectory_msgs_JointTrajectoryPoint_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "ros/duration.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace trajectory_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class JointTrajectoryPoint : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 uint8_t positions_length;
akashvibhute 0:30537dec6e0b 17 float st_positions;
akashvibhute 0:30537dec6e0b 18 float * positions;
akashvibhute 0:30537dec6e0b 19 uint8_t velocities_length;
akashvibhute 0:30537dec6e0b 20 float st_velocities;
akashvibhute 0:30537dec6e0b 21 float * velocities;
akashvibhute 0:30537dec6e0b 22 uint8_t accelerations_length;
akashvibhute 0:30537dec6e0b 23 float st_accelerations;
akashvibhute 0:30537dec6e0b 24 float * accelerations;
akashvibhute 0:30537dec6e0b 25 uint8_t effort_length;
akashvibhute 0:30537dec6e0b 26 float st_effort;
akashvibhute 0:30537dec6e0b 27 float * effort;
akashvibhute 0:30537dec6e0b 28 ros::Duration time_from_start;
akashvibhute 0:30537dec6e0b 29
akashvibhute 0:30537dec6e0b 30 JointTrajectoryPoint():
akashvibhute 0:30537dec6e0b 31 positions_length(0), positions(NULL),
akashvibhute 0:30537dec6e0b 32 velocities_length(0), velocities(NULL),
akashvibhute 0:30537dec6e0b 33 accelerations_length(0), accelerations(NULL),
akashvibhute 0:30537dec6e0b 34 effort_length(0), effort(NULL),
akashvibhute 0:30537dec6e0b 35 time_from_start()
akashvibhute 0:30537dec6e0b 36 {
akashvibhute 0:30537dec6e0b 37 }
akashvibhute 0:30537dec6e0b 38
akashvibhute 0:30537dec6e0b 39 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 40 {
akashvibhute 0:30537dec6e0b 41 int offset = 0;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = positions_length;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 46 for( uint8_t i = 0; i < positions_length; i++){
akashvibhute 0:30537dec6e0b 47 offset += serializeAvrFloat64(outbuffer + offset, this->positions[i]);
akashvibhute 0:30537dec6e0b 48 }
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = velocities_length;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 53 for( uint8_t i = 0; i < velocities_length; i++){
akashvibhute 0:30537dec6e0b 54 offset += serializeAvrFloat64(outbuffer + offset, this->velocities[i]);
akashvibhute 0:30537dec6e0b 55 }
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = accelerations_length;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 60 for( uint8_t i = 0; i < accelerations_length; i++){
akashvibhute 0:30537dec6e0b 61 offset += serializeAvrFloat64(outbuffer + offset, this->accelerations[i]);
akashvibhute 0:30537dec6e0b 62 }
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset++) = effort_length;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 67 for( uint8_t i = 0; i < effort_length; i++){
akashvibhute 0:30537dec6e0b 68 offset += serializeAvrFloat64(outbuffer + offset, this->effort[i]);
akashvibhute 0:30537dec6e0b 69 }
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 74 offset += sizeof(this->time_from_start.sec);
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 77 *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 78 *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 79 offset += sizeof(this->time_from_start.nsec);
akashvibhute 0:30537dec6e0b 80 return offset;
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82
akashvibhute 0:30537dec6e0b 83 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 84 {
akashvibhute 0:30537dec6e0b 85 int offset = 0;
akashvibhute 0:30537dec6e0b 86 uint8_t positions_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 87 if(positions_lengthT > positions_length)
akashvibhute 0:30537dec6e0b 88 this->positions = (float*)realloc(this->positions, positions_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 89 offset += 3;
akashvibhute 0:30537dec6e0b 90 positions_length = positions_lengthT;
akashvibhute 0:30537dec6e0b 91 for( uint8_t i = 0; i < positions_length; i++){
akashvibhute 0:30537dec6e0b 92 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_positions));
akashvibhute 0:30537dec6e0b 93 memcpy( &(this->positions[i]), &(this->st_positions), sizeof(float));
akashvibhute 0:30537dec6e0b 94 }
akashvibhute 0:30537dec6e0b 95 uint8_t velocities_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 96 if(velocities_lengthT > velocities_length)
akashvibhute 0:30537dec6e0b 97 this->velocities = (float*)realloc(this->velocities, velocities_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 98 offset += 3;
akashvibhute 0:30537dec6e0b 99 velocities_length = velocities_lengthT;
akashvibhute 0:30537dec6e0b 100 for( uint8_t i = 0; i < velocities_length; i++){
akashvibhute 0:30537dec6e0b 101 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_velocities));
akashvibhute 0:30537dec6e0b 102 memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(float));
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104 uint8_t accelerations_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 105 if(accelerations_lengthT > accelerations_length)
akashvibhute 0:30537dec6e0b 106 this->accelerations = (float*)realloc(this->accelerations, accelerations_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 107 offset += 3;
akashvibhute 0:30537dec6e0b 108 accelerations_length = accelerations_lengthT;
akashvibhute 0:30537dec6e0b 109 for( uint8_t i = 0; i < accelerations_length; i++){
akashvibhute 0:30537dec6e0b 110 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_accelerations));
akashvibhute 0:30537dec6e0b 111 memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(float));
akashvibhute 0:30537dec6e0b 112 }
akashvibhute 0:30537dec6e0b 113 uint8_t effort_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 114 if(effort_lengthT > effort_length)
akashvibhute 0:30537dec6e0b 115 this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 116 offset += 3;
akashvibhute 0:30537dec6e0b 117 effort_length = effort_lengthT;
akashvibhute 0:30537dec6e0b 118 for( uint8_t i = 0; i < effort_length; i++){
akashvibhute 0:30537dec6e0b 119 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_effort));
akashvibhute 0:30537dec6e0b 120 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
akashvibhute 0:30537dec6e0b 121 }
akashvibhute 0:30537dec6e0b 122 this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 123 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 124 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 125 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 126 offset += sizeof(this->time_from_start.sec);
akashvibhute 0:30537dec6e0b 127 this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 128 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 129 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 130 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 131 offset += sizeof(this->time_from_start.nsec);
akashvibhute 0:30537dec6e0b 132 return offset;
akashvibhute 0:30537dec6e0b 133 }
akashvibhute 0:30537dec6e0b 134
akashvibhute 0:30537dec6e0b 135 const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
akashvibhute 0:30537dec6e0b 136 const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
akashvibhute 0:30537dec6e0b 137
akashvibhute 0:30537dec6e0b 138 };
akashvibhute 0:30537dec6e0b 139
akashvibhute 0:30537dec6e0b 140 }
akashvibhute 0:30537dec6e0b 141 #endif