Diff: manipulation_msgs/CartesianGains.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/manipulation_msgs/CartesianGains.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,83 @@
+#ifndef _ROS_manipulation_msgs_CartesianGains_h
+#define _ROS_manipulation_msgs_CartesianGains_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace manipulation_msgs
+{
+
+  class CartesianGains : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t gains_length;
+      float st_gains;
+      float * gains;
+      uint8_t fixed_frame_length;
+      float st_fixed_frame;
+      float * fixed_frame;
+
+    CartesianGains():
+      header(),
+      gains_length(0), gains(NULL),
+      fixed_frame_length(0), fixed_frame(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = gains_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < gains_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->gains[i]);
+      }
+      *(outbuffer + offset++) = fixed_frame_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < fixed_frame_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->fixed_frame[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t gains_lengthT = *(inbuffer + offset++);
+      if(gains_lengthT > gains_length)
+        this->gains = (float*)realloc(this->gains, gains_lengthT * sizeof(float));
+      offset += 3;
+      gains_length = gains_lengthT;
+      for( uint8_t i = 0; i < gains_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_gains));
+        memcpy( &(this->gains[i]), &(this->st_gains), sizeof(float));
+      }
+      uint8_t fixed_frame_lengthT = *(inbuffer + offset++);
+      if(fixed_frame_lengthT > fixed_frame_length)
+        this->fixed_frame = (float*)realloc(this->fixed_frame, fixed_frame_lengthT * sizeof(float));
+      offset += 3;
+      fixed_frame_length = fixed_frame_lengthT;
+      for( uint8_t i = 0; i < fixed_frame_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_fixed_frame));
+        memcpy( &(this->fixed_frame[i]), &(this->st_fixed_frame), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "manipulation_msgs/CartesianGains"; };
+    const char * getMD5(){ return "ab347f046ca5736a156ec424cbb63635"; };
+
+  };
+
+}
+#endif