Diff: sensor_msgs/JointState.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/JointState.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,216 @@
+#ifndef _ROS_sensor_msgs_JointState_h
+#define _ROS_sensor_msgs_JointState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class JointState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t position_length;
+      double st_position;
+      double * position;
+      uint8_t velocity_length;
+      double st_velocity;
+      double * velocity;
+      uint8_t effort_length;
+      double st_effort;
+      double * effort;
+
+    JointState():
+      header(),
+      name_length(0), name(NULL),
+      position_length(0), position(NULL),
+      velocity_length(0), velocity(NULL),
+      effort_length(0), effort(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = position_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset++) = velocity_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocityi;
+      u_velocityi.real = this->velocity[i];
+      *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity[i]);
+      }
+      *(outbuffer + offset++) = effort_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_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]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t position_lengthT = *(inbuffer + offset++);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      offset += 3;
+      position_length = position_lengthT;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint8_t velocity_lengthT = *(inbuffer + offset++);
+      if(velocity_lengthT > velocity_length)
+        this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+      offset += 3;
+      velocity_length = velocity_lengthT;
+      for( uint8_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocity;
+      u_st_velocity.base = 0;
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocity = u_st_velocity.real;
+      offset += sizeof(this->st_velocity);
+        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+      }
+      uint8_t effort_lengthT = *(inbuffer + offset++);
+      if(effort_lengthT > effort_length)
+        this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
+      offset += 3;
+      effort_length = effort_lengthT;
+      for( uint8_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));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/JointState"; };
+    const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
+
+  };
+
+}
+#endif
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