Diff: trajectory_msgs/JointTrajectoryPoint.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/JointTrajectoryPoint.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,141 @@
+#ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_JointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+  class JointTrajectoryPoint : public ros::Msg
+  {
+    public:
+      uint8_t positions_length;
+      float st_positions;
+      float * positions;
+      uint8_t velocities_length;
+      float st_velocities;
+      float * velocities;
+      uint8_t accelerations_length;
+      float st_accelerations;
+      float * accelerations;
+      uint8_t effort_length;
+      float st_effort;
+      float * effort;
+      ros::Duration time_from_start;
+
+    JointTrajectoryPoint():
+      positions_length(0), positions(NULL),
+      velocities_length(0), velocities(NULL),
+      accelerations_length(0), accelerations(NULL),
+      effort_length(0), effort(NULL),
+      time_from_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = positions_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < positions_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->positions[i]);
+      }
+      *(outbuffer + offset++) = velocities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->velocities[i]);
+      }
+      *(outbuffer + offset++) = accelerations_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->accelerations[i]);
+      }
+      *(outbuffer + offset++) = effort_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < effort_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->effort[i]);
+      }
+      *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.sec);
+      *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t positions_lengthT = *(inbuffer + offset++);
+      if(positions_lengthT > positions_length)
+        this->positions = (float*)realloc(this->positions, positions_lengthT * sizeof(float));
+      offset += 3;
+      positions_length = positions_lengthT;
+      for( uint8_t i = 0; i < positions_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_positions));
+        memcpy( &(this->positions[i]), &(this->st_positions), sizeof(float));
+      }
+      uint8_t velocities_lengthT = *(inbuffer + offset++);
+      if(velocities_lengthT > velocities_length)
+        this->velocities = (float*)realloc(this->velocities, velocities_lengthT * sizeof(float));
+      offset += 3;
+      velocities_length = velocities_lengthT;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_velocities));
+        memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(float));
+      }
+      uint8_t accelerations_lengthT = *(inbuffer + offset++);
+      if(accelerations_lengthT > accelerations_length)
+        this->accelerations = (float*)realloc(this->accelerations, accelerations_lengthT * sizeof(float));
+      offset += 3;
+      accelerations_length = accelerations_lengthT;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_accelerations));
+        memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(float));
+      }
+      uint8_t effort_lengthT = *(inbuffer + offset++);
+      if(effort_lengthT > effort_length)
+        this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
+      offset += 3;
+      effort_length = effort_lengthT;
+      for( uint8_t i = 0; i < effort_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_effort));
+        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
+      }
+      this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.sec);
+      this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
+    const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
+
+  };
+
+}
+#endif