Diff: trajectory_msgs/MultiDOFJointTrajectoryPoint.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/MultiDOFJointTrajectoryPoint.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,123 @@
+#ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Transform.h"
+#include "geometry_msgs/Twist.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+  class MultiDOFJointTrajectoryPoint : public ros::Msg
+  {
+    public:
+      uint8_t transforms_length;
+      geometry_msgs::Transform st_transforms;
+      geometry_msgs::Transform * transforms;
+      uint8_t velocities_length;
+      geometry_msgs::Twist st_velocities;
+      geometry_msgs::Twist * velocities;
+      uint8_t accelerations_length;
+      geometry_msgs::Twist st_accelerations;
+      geometry_msgs::Twist * accelerations;
+      ros::Duration time_from_start;
+
+    MultiDOFJointTrajectoryPoint():
+      transforms_length(0), transforms(NULL),
+      velocities_length(0), velocities(NULL),
+      accelerations_length(0), accelerations(NULL),
+      time_from_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = transforms_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = velocities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      offset += this->velocities[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = accelerations_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      offset += this->accelerations[i].serialize(outbuffer + offset);
+      }
+      *(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 transforms_lengthT = *(inbuffer + offset++);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
+      offset += 3;
+      transforms_length = transforms_lengthT;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
+      }
+      uint8_t velocities_lengthT = *(inbuffer + offset++);
+      if(velocities_lengthT > velocities_length)
+        this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      velocities_length = velocities_lengthT;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      offset += this->st_velocities.deserialize(inbuffer + offset);
+        memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist));
+      }
+      uint8_t accelerations_lengthT = *(inbuffer + offset++);
+      if(accelerations_lengthT > accelerations_length)
+        this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      accelerations_length = accelerations_lengthT;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      offset += this->st_accelerations.deserialize(inbuffer + offset);
+        memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist));
+      }
+      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/MultiDOFJointTrajectoryPoint"; };
+    const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; };
+
+  };
+
+}
+#endif