Diff: pr2_mechanism_msgs/JointStatistics.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pr2_mechanism_msgs/JointStatistics.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,147 @@
+#ifndef _ROS_pr2_mechanism_msgs_JointStatistics_h
+#define _ROS_pr2_mechanism_msgs_JointStatistics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace pr2_mechanism_msgs
+{
+
+  class JointStatistics : public ros::Msg
+  {
+    public:
+      const char* name;
+      ros::Time timestamp;
+      float position;
+      float velocity;
+      float measured_effort;
+      float commanded_effort;
+      bool is_calibrated;
+      bool violated_limits;
+      float odometer;
+      float min_position;
+      float max_position;
+      float max_abs_velocity;
+      float max_abs_effort;
+
+    JointStatistics():
+      name(""),
+      timestamp(),
+      position(0),
+      velocity(0),
+      measured_effort(0),
+      commanded_effort(0),
+      is_calibrated(0),
+      violated_limits(0),
+      odometer(0),
+      min_position(0),
+      max_position(0),
+      max_abs_velocity(0),
+      max_abs_effort(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset + 0) = (this->timestamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timestamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timestamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timestamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timestamp.sec);
+      *(outbuffer + offset + 0) = (this->timestamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timestamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timestamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timestamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timestamp.nsec);
+      offset += serializeAvrFloat64(outbuffer + offset, this->position);
+      offset += serializeAvrFloat64(outbuffer + offset, this->velocity);
+      offset += serializeAvrFloat64(outbuffer + offset, this->measured_effort);
+      offset += serializeAvrFloat64(outbuffer + offset, this->commanded_effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_calibrated;
+      u_is_calibrated.real = this->is_calibrated;
+      *(outbuffer + offset + 0) = (u_is_calibrated.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_calibrated);
+      union {
+        bool real;
+        uint8_t base;
+      } u_violated_limits;
+      u_violated_limits.real = this->violated_limits;
+      *(outbuffer + offset + 0) = (u_violated_limits.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->violated_limits);
+      offset += serializeAvrFloat64(outbuffer + offset, this->odometer);
+      offset += serializeAvrFloat64(outbuffer + offset, this->min_position);
+      offset += serializeAvrFloat64(outbuffer + offset, this->max_position);
+      offset += serializeAvrFloat64(outbuffer + offset, this->max_abs_velocity);
+      offset += serializeAvrFloat64(outbuffer + offset, this->max_abs_effort);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      this->timestamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timestamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timestamp.sec);
+      this->timestamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timestamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timestamp.nsec);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->position));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->velocity));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->measured_effort));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->commanded_effort));
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_calibrated;
+      u_is_calibrated.base = 0;
+      u_is_calibrated.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_calibrated = u_is_calibrated.real;
+      offset += sizeof(this->is_calibrated);
+      union {
+        bool real;
+        uint8_t base;
+      } u_violated_limits;
+      u_violated_limits.base = 0;
+      u_violated_limits.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->violated_limits = u_violated_limits.real;
+      offset += sizeof(this->violated_limits);
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->odometer));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->min_position));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_position));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_abs_velocity));
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_abs_effort));
+     return offset;
+    }
+
+    const char * getType(){ return "pr2_mechanism_msgs/JointStatistics"; };
+    const char * getMD5(){ return "90fdc8acbce5bc783d8b4aec49af6590"; };
+
+  };
+
+}
+#endif