ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
trajectory_msgs/MultiDOFJointTrajectoryPoint.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "geometry_msgs/Transform.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "geometry_msgs/Twist.h" |
garyservin | 0:9e9b7db60fd5 | 10 | #include "ros/duration.h" |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | namespace trajectory_msgs |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class MultiDOFJointTrajectoryPoint : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | uint32_t transforms_length; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef geometry_msgs::Transform _transforms_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _transforms_type st_transforms; |
garyservin | 0:9e9b7db60fd5 | 21 | _transforms_type * transforms; |
garyservin | 0:9e9b7db60fd5 | 22 | uint32_t velocities_length; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef geometry_msgs::Twist _velocities_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _velocities_type st_velocities; |
garyservin | 0:9e9b7db60fd5 | 25 | _velocities_type * velocities; |
garyservin | 0:9e9b7db60fd5 | 26 | uint32_t accelerations_length; |
garyservin | 0:9e9b7db60fd5 | 27 | typedef geometry_msgs::Twist _accelerations_type; |
garyservin | 0:9e9b7db60fd5 | 28 | _accelerations_type st_accelerations; |
garyservin | 0:9e9b7db60fd5 | 29 | _accelerations_type * accelerations; |
garyservin | 0:9e9b7db60fd5 | 30 | typedef ros::Duration _time_from_start_type; |
garyservin | 0:9e9b7db60fd5 | 31 | _time_from_start_type time_from_start; |
garyservin | 0:9e9b7db60fd5 | 32 | |
garyservin | 0:9e9b7db60fd5 | 33 | MultiDOFJointTrajectoryPoint(): |
garyservin | 0:9e9b7db60fd5 | 34 | transforms_length(0), transforms(NULL), |
garyservin | 0:9e9b7db60fd5 | 35 | velocities_length(0), velocities(NULL), |
garyservin | 0:9e9b7db60fd5 | 36 | accelerations_length(0), accelerations(NULL), |
garyservin | 0:9e9b7db60fd5 | 37 | time_from_start() |
garyservin | 0:9e9b7db60fd5 | 38 | { |
garyservin | 0:9e9b7db60fd5 | 39 | } |
garyservin | 0:9e9b7db60fd5 | 40 | |
garyservin | 0:9e9b7db60fd5 | 41 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 42 | { |
garyservin | 0:9e9b7db60fd5 | 43 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 44 | *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 45 | *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 46 | *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 47 | *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 48 | offset += sizeof(this->transforms_length); |
garyservin | 0:9e9b7db60fd5 | 49 | for( uint32_t i = 0; i < transforms_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 50 | offset += this->transforms[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 51 | } |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 56 | offset += sizeof(this->velocities_length); |
garyservin | 0:9e9b7db60fd5 | 57 | for( uint32_t i = 0; i < velocities_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 58 | offset += this->velocities[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 59 | } |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | offset += sizeof(this->accelerations_length); |
garyservin | 0:9e9b7db60fd5 | 65 | for( uint32_t i = 0; i < accelerations_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 66 | offset += this->accelerations[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 67 | } |
garyservin | 0:9e9b7db60fd5 | 68 | *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 71 | *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 72 | offset += sizeof(this->time_from_start.sec); |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | offset += sizeof(this->time_from_start.nsec); |
garyservin | 0:9e9b7db60fd5 | 78 | return offset; |
garyservin | 0:9e9b7db60fd5 | 79 | } |
garyservin | 0:9e9b7db60fd5 | 80 | |
garyservin | 0:9e9b7db60fd5 | 81 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 82 | { |
garyservin | 0:9e9b7db60fd5 | 83 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 84 | uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 85 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 86 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 87 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 88 | offset += sizeof(this->transforms_length); |
garyservin | 0:9e9b7db60fd5 | 89 | if(transforms_lengthT > transforms_length) |
garyservin | 0:9e9b7db60fd5 | 90 | this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform)); |
garyservin | 0:9e9b7db60fd5 | 91 | transforms_length = transforms_lengthT; |
garyservin | 0:9e9b7db60fd5 | 92 | for( uint32_t i = 0; i < transforms_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 93 | offset += this->st_transforms.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 94 | memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform)); |
garyservin | 0:9e9b7db60fd5 | 95 | } |
garyservin | 0:9e9b7db60fd5 | 96 | uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 97 | velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 98 | velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 99 | velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 100 | offset += sizeof(this->velocities_length); |
garyservin | 0:9e9b7db60fd5 | 101 | if(velocities_lengthT > velocities_length) |
garyservin | 0:9e9b7db60fd5 | 102 | this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist)); |
garyservin | 0:9e9b7db60fd5 | 103 | velocities_length = velocities_lengthT; |
garyservin | 0:9e9b7db60fd5 | 104 | for( uint32_t i = 0; i < velocities_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 105 | offset += this->st_velocities.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 106 | memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist)); |
garyservin | 0:9e9b7db60fd5 | 107 | } |
garyservin | 0:9e9b7db60fd5 | 108 | uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 109 | accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 110 | accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 111 | accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 112 | offset += sizeof(this->accelerations_length); |
garyservin | 0:9e9b7db60fd5 | 113 | if(accelerations_lengthT > accelerations_length) |
garyservin | 0:9e9b7db60fd5 | 114 | this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist)); |
garyservin | 0:9e9b7db60fd5 | 115 | accelerations_length = accelerations_lengthT; |
garyservin | 0:9e9b7db60fd5 | 116 | for( uint32_t i = 0; i < accelerations_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 117 | offset += this->st_accelerations.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 118 | memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist)); |
garyservin | 0:9e9b7db60fd5 | 119 | } |
garyservin | 0:9e9b7db60fd5 | 120 | this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 121 | this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 122 | this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 123 | this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 124 | offset += sizeof(this->time_from_start.sec); |
garyservin | 0:9e9b7db60fd5 | 125 | this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 126 | this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 127 | this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 128 | this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 129 | offset += sizeof(this->time_from_start.nsec); |
garyservin | 0:9e9b7db60fd5 | 130 | return offset; |
garyservin | 0:9e9b7db60fd5 | 131 | } |
garyservin | 0:9e9b7db60fd5 | 132 | |
garyservin | 0:9e9b7db60fd5 | 133 | const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; }; |
garyservin | 0:9e9b7db60fd5 | 134 | const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; }; |
garyservin | 0:9e9b7db60fd5 | 135 | |
garyservin | 0:9e9b7db60fd5 | 136 | }; |
garyservin | 0:9e9b7db60fd5 | 137 | |
garyservin | 0:9e9b7db60fd5 | 138 | } |
garyservin | 0:9e9b7db60fd5 | 139 | #endif |