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!

moveit_msgs/JointLimits.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_moveit_msgs_JointLimits_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_moveit_msgs_JointLimits_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
akashvibhute 0:30537dec6e0b 9 namespace moveit_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class JointLimits : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 const char* joint_name;
akashvibhute 0:30537dec6e0b 16 bool has_position_limits;
akashvibhute 0:30537dec6e0b 17 float min_position;
akashvibhute 0:30537dec6e0b 18 float max_position;
akashvibhute 0:30537dec6e0b 19 bool has_velocity_limits;
akashvibhute 0:30537dec6e0b 20 float max_velocity;
akashvibhute 0:30537dec6e0b 21 bool has_acceleration_limits;
akashvibhute 0:30537dec6e0b 22 float max_acceleration;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 JointLimits():
akashvibhute 0:30537dec6e0b 25 joint_name(""),
akashvibhute 0:30537dec6e0b 26 has_position_limits(0),
akashvibhute 0:30537dec6e0b 27 min_position(0),
akashvibhute 0:30537dec6e0b 28 max_position(0),
akashvibhute 0:30537dec6e0b 29 has_velocity_limits(0),
akashvibhute 0:30537dec6e0b 30 max_velocity(0),
akashvibhute 0:30537dec6e0b 31 has_acceleration_limits(0),
akashvibhute 0:30537dec6e0b 32 max_acceleration(0)
akashvibhute 0:30537dec6e0b 33 {
akashvibhute 0:30537dec6e0b 34 }
akashvibhute 0:30537dec6e0b 35
akashvibhute 0:30537dec6e0b 36 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 37 {
akashvibhute 0:30537dec6e0b 38 int offset = 0;
akashvibhute 0:30537dec6e0b 39 uint32_t length_joint_name = strlen(this->joint_name);
akashvibhute 0:30537dec6e0b 40 memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 41 offset += 4;
akashvibhute 0:30537dec6e0b 42 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
akashvibhute 0:30537dec6e0b 43 offset += length_joint_name;
akashvibhute 0:30537dec6e0b 44 union {
akashvibhute 0:30537dec6e0b 45 bool real;
akashvibhute 0:30537dec6e0b 46 uint8_t base;
akashvibhute 0:30537dec6e0b 47 } u_has_position_limits;
akashvibhute 0:30537dec6e0b 48 u_has_position_limits.real = this->has_position_limits;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset + 0) = (u_has_position_limits.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 50 offset += sizeof(this->has_position_limits);
akashvibhute 0:30537dec6e0b 51 offset += serializeAvrFloat64(outbuffer + offset, this->min_position);
akashvibhute 0:30537dec6e0b 52 offset += serializeAvrFloat64(outbuffer + offset, this->max_position);
akashvibhute 0:30537dec6e0b 53 union {
akashvibhute 0:30537dec6e0b 54 bool real;
akashvibhute 0:30537dec6e0b 55 uint8_t base;
akashvibhute 0:30537dec6e0b 56 } u_has_velocity_limits;
akashvibhute 0:30537dec6e0b 57 u_has_velocity_limits.real = this->has_velocity_limits;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset + 0) = (u_has_velocity_limits.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 59 offset += sizeof(this->has_velocity_limits);
akashvibhute 0:30537dec6e0b 60 offset += serializeAvrFloat64(outbuffer + offset, this->max_velocity);
akashvibhute 0:30537dec6e0b 61 union {
akashvibhute 0:30537dec6e0b 62 bool real;
akashvibhute 0:30537dec6e0b 63 uint8_t base;
akashvibhute 0:30537dec6e0b 64 } u_has_acceleration_limits;
akashvibhute 0:30537dec6e0b 65 u_has_acceleration_limits.real = this->has_acceleration_limits;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset + 0) = (u_has_acceleration_limits.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 67 offset += sizeof(this->has_acceleration_limits);
akashvibhute 0:30537dec6e0b 68 offset += serializeAvrFloat64(outbuffer + offset, this->max_acceleration);
akashvibhute 0:30537dec6e0b 69 return offset;
akashvibhute 0:30537dec6e0b 70 }
akashvibhute 0:30537dec6e0b 71
akashvibhute 0:30537dec6e0b 72 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 73 {
akashvibhute 0:30537dec6e0b 74 int offset = 0;
akashvibhute 0:30537dec6e0b 75 uint32_t length_joint_name;
akashvibhute 0:30537dec6e0b 76 memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 77 offset += 4;
akashvibhute 0:30537dec6e0b 78 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
akashvibhute 0:30537dec6e0b 79 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 80 }
akashvibhute 0:30537dec6e0b 81 inbuffer[offset+length_joint_name-1]=0;
akashvibhute 0:30537dec6e0b 82 this->joint_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 83 offset += length_joint_name;
akashvibhute 0:30537dec6e0b 84 union {
akashvibhute 0:30537dec6e0b 85 bool real;
akashvibhute 0:30537dec6e0b 86 uint8_t base;
akashvibhute 0:30537dec6e0b 87 } u_has_position_limits;
akashvibhute 0:30537dec6e0b 88 u_has_position_limits.base = 0;
akashvibhute 0:30537dec6e0b 89 u_has_position_limits.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 90 this->has_position_limits = u_has_position_limits.real;
akashvibhute 0:30537dec6e0b 91 offset += sizeof(this->has_position_limits);
akashvibhute 0:30537dec6e0b 92 offset += deserializeAvrFloat64(inbuffer + offset, &(this->min_position));
akashvibhute 0:30537dec6e0b 93 offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_position));
akashvibhute 0:30537dec6e0b 94 union {
akashvibhute 0:30537dec6e0b 95 bool real;
akashvibhute 0:30537dec6e0b 96 uint8_t base;
akashvibhute 0:30537dec6e0b 97 } u_has_velocity_limits;
akashvibhute 0:30537dec6e0b 98 u_has_velocity_limits.base = 0;
akashvibhute 0:30537dec6e0b 99 u_has_velocity_limits.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 100 this->has_velocity_limits = u_has_velocity_limits.real;
akashvibhute 0:30537dec6e0b 101 offset += sizeof(this->has_velocity_limits);
akashvibhute 0:30537dec6e0b 102 offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_velocity));
akashvibhute 0:30537dec6e0b 103 union {
akashvibhute 0:30537dec6e0b 104 bool real;
akashvibhute 0:30537dec6e0b 105 uint8_t base;
akashvibhute 0:30537dec6e0b 106 } u_has_acceleration_limits;
akashvibhute 0:30537dec6e0b 107 u_has_acceleration_limits.base = 0;
akashvibhute 0:30537dec6e0b 108 u_has_acceleration_limits.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 109 this->has_acceleration_limits = u_has_acceleration_limits.real;
akashvibhute 0:30537dec6e0b 110 offset += sizeof(this->has_acceleration_limits);
akashvibhute 0:30537dec6e0b 111 offset += deserializeAvrFloat64(inbuffer + offset, &(this->max_acceleration));
akashvibhute 0:30537dec6e0b 112 return offset;
akashvibhute 0:30537dec6e0b 113 }
akashvibhute 0:30537dec6e0b 114
akashvibhute 0:30537dec6e0b 115 const char * getType(){ return "moveit_msgs/JointLimits"; };
akashvibhute 0:30537dec6e0b 116 const char * getMD5(){ return "8ca618c7329ea46142cbc864a2efe856"; };
akashvibhute 0:30537dec6e0b 117
akashvibhute 0:30537dec6e0b 118 };
akashvibhute 0:30537dec6e0b 119
akashvibhute 0:30537dec6e0b 120 }
akashvibhute 0:30537dec6e0b 121 #endif