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/JointTrajectoryPoint.h
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#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: uint32_t positions_length; typedef double _positions_type; _positions_type st_positions; _positions_type * positions; uint32_t velocities_length; typedef double _velocities_type; _velocities_type st_velocities; _velocities_type * velocities; uint32_t accelerations_length; typedef double _accelerations_type; _accelerations_type st_accelerations; _accelerations_type * accelerations; uint32_t effort_length; typedef double _effort_type; _effort_type st_effort; _effort_type * effort; typedef ros::Duration _time_from_start_type; _time_from_start_type 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 + 0) = (this->positions_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->positions_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->positions_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->positions_length >> (8 * 3)) & 0xFF; offset += sizeof(this->positions_length); for( uint32_t i = 0; i < positions_length; i++){ union { double real; uint64_t base; } u_positionsi; u_positionsi.real = this->positions[i]; *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->positions[i]); } *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF; offset += sizeof(this->velocities_length); for( uint32_t i = 0; i < velocities_length; i++){ union { double real; uint64_t base; } u_velocitiesi; u_velocitiesi.real = this->velocities[i]; *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->velocities[i]); } *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF; offset += sizeof(this->accelerations_length); for( uint32_t i = 0; i < accelerations_length; i++){ union { double real; uint64_t base; } u_accelerationsi; u_accelerationsi.real = this->accelerations[i]; *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->accelerations[i]); } *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF; offset += sizeof(this->effort_length); for( uint32_t i = 0; i < effort_length; i++){ union { double real; uint64_t base; } u_efforti; u_efforti.real = this->effort[i]; *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF; offset += sizeof(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; uint32_t positions_lengthT = ((uint32_t) (*(inbuffer + offset))); positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->positions_length); if(positions_lengthT > positions_length) this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double)); positions_length = positions_lengthT; for( uint32_t i = 0; i < positions_length; i++){ union { double real; uint64_t base; } u_st_positions; u_st_positions.base = 0; u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_positions = u_st_positions.real; offset += sizeof(this->st_positions); memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double)); } uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->velocities_length); if(velocities_lengthT > velocities_length) this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double)); velocities_length = velocities_lengthT; for( uint32_t i = 0; i < velocities_length; i++){ union { double real; uint64_t base; } u_st_velocities; u_st_velocities.base = 0; u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_velocities = u_st_velocities.real; offset += sizeof(this->st_velocities); memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double)); } uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->accelerations_length); if(accelerations_lengthT > accelerations_length) this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double)); accelerations_length = accelerations_lengthT; for( uint32_t i = 0; i < accelerations_length; i++){ union { double real; uint64_t base; } u_st_accelerations; u_st_accelerations.base = 0; u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_accelerations = u_st_accelerations.real; offset += sizeof(this->st_accelerations); memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double)); } uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset))); effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->effort_length); if(effort_lengthT > effort_length) this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double)); effort_length = effort_lengthT; for( uint32_t i = 0; i < effort_length; i++){ union { double real; uint64_t base; } u_st_effort; u_st_effort.base = 0; u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_effort = u_st_effort.real; offset += sizeof(this->st_effort); memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double)); } 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