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/MultiDOFJointTrajectoryPoint.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_MultiDOFJointTrajectoryPoint_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_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 "geometry_msgs/Transform.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/Twist.h"
akashvibhute 0:30537dec6e0b 10 #include "ros/duration.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace trajectory_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class MultiDOFJointTrajectoryPoint : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 uint8_t transforms_length;
akashvibhute 0:30537dec6e0b 19 geometry_msgs::Transform st_transforms;
akashvibhute 0:30537dec6e0b 20 geometry_msgs::Transform * transforms;
akashvibhute 0:30537dec6e0b 21 uint8_t velocities_length;
akashvibhute 0:30537dec6e0b 22 geometry_msgs::Twist st_velocities;
akashvibhute 0:30537dec6e0b 23 geometry_msgs::Twist * velocities;
akashvibhute 0:30537dec6e0b 24 uint8_t accelerations_length;
akashvibhute 0:30537dec6e0b 25 geometry_msgs::Twist st_accelerations;
akashvibhute 0:30537dec6e0b 26 geometry_msgs::Twist * accelerations;
akashvibhute 0:30537dec6e0b 27 ros::Duration time_from_start;
akashvibhute 0:30537dec6e0b 28
akashvibhute 0:30537dec6e0b 29 MultiDOFJointTrajectoryPoint():
akashvibhute 0:30537dec6e0b 30 transforms_length(0), transforms(NULL),
akashvibhute 0:30537dec6e0b 31 velocities_length(0), velocities(NULL),
akashvibhute 0:30537dec6e0b 32 accelerations_length(0), accelerations(NULL),
akashvibhute 0:30537dec6e0b 33 time_from_start()
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 }
akashvibhute 0:30537dec6e0b 36
akashvibhute 0:30537dec6e0b 37 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 38 {
akashvibhute 0:30537dec6e0b 39 int offset = 0;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = transforms_length;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 44 for( uint8_t i = 0; i < transforms_length; i++){
akashvibhute 0:30537dec6e0b 45 offset += this->transforms[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = velocities_length;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 51 for( uint8_t i = 0; i < velocities_length; i++){
akashvibhute 0:30537dec6e0b 52 offset += this->velocities[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 53 }
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset++) = accelerations_length;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 58 for( uint8_t i = 0; i < accelerations_length; i++){
akashvibhute 0:30537dec6e0b 59 offset += this->accelerations[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 offset += sizeof(this->time_from_start.sec);
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 70 offset += sizeof(this->time_from_start.nsec);
akashvibhute 0:30537dec6e0b 71 return offset;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 75 {
akashvibhute 0:30537dec6e0b 76 int offset = 0;
akashvibhute 0:30537dec6e0b 77 uint8_t transforms_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 78 if(transforms_lengthT > transforms_length)
akashvibhute 0:30537dec6e0b 79 this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
akashvibhute 0:30537dec6e0b 80 offset += 3;
akashvibhute 0:30537dec6e0b 81 transforms_length = transforms_lengthT;
akashvibhute 0:30537dec6e0b 82 for( uint8_t i = 0; i < transforms_length; i++){
akashvibhute 0:30537dec6e0b 83 offset += this->st_transforms.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 84 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 uint8_t velocities_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 87 if(velocities_lengthT > velocities_length)
akashvibhute 0:30537dec6e0b 88 this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist));
akashvibhute 0:30537dec6e0b 89 offset += 3;
akashvibhute 0:30537dec6e0b 90 velocities_length = velocities_lengthT;
akashvibhute 0:30537dec6e0b 91 for( uint8_t i = 0; i < velocities_length; i++){
akashvibhute 0:30537dec6e0b 92 offset += this->st_velocities.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 93 memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist));
akashvibhute 0:30537dec6e0b 94 }
akashvibhute 0:30537dec6e0b 95 uint8_t accelerations_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 96 if(accelerations_lengthT > accelerations_length)
akashvibhute 0:30537dec6e0b 97 this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist));
akashvibhute 0:30537dec6e0b 98 offset += 3;
akashvibhute 0:30537dec6e0b 99 accelerations_length = accelerations_lengthT;
akashvibhute 0:30537dec6e0b 100 for( uint8_t i = 0; i < accelerations_length; i++){
akashvibhute 0:30537dec6e0b 101 offset += this->st_accelerations.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 102 memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist));
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104 this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 105 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 106 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 107 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 108 offset += sizeof(this->time_from_start.sec);
akashvibhute 0:30537dec6e0b 109 this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 110 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 111 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 112 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 113 offset += sizeof(this->time_from_start.nsec);
akashvibhute 0:30537dec6e0b 114 return offset;
akashvibhute 0:30537dec6e0b 115 }
akashvibhute 0:30537dec6e0b 116
akashvibhute 0:30537dec6e0b 117 const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; };
akashvibhute 0:30537dec6e0b 118 const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; };
akashvibhute 0:30537dec6e0b 119
akashvibhute 0:30537dec6e0b 120 };
akashvibhute 0:30537dec6e0b 121
akashvibhute 0:30537dec6e0b 122 }
akashvibhute 0:30537dec6e0b 123 #endif