GripperCommand.h

00001 #ifndef _ROS_control_msgs_GripperCommand_h
00002 #define _ROS_control_msgs_GripperCommand_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace control_msgs
00010 {
00011 
00012   class GripperCommand : public ros::Msg
00013   {
00014     public:
00015       double position;
00016       double max_effort;
00017 
00018     GripperCommand():
00019       position(0),
00020       max_effort(0)
00021     {
00022     }
00023 
00024     virtual int serialize(unsigned char *outbuffer) const
00025     {
00026       int offset = 0;
00027       union {
00028         double real;
00029         uint64_t base;
00030       } u_position;
00031       u_position.real = this->position;
00032       *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
00033       *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
00034       *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
00035       *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
00036       *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
00037       *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
00038       *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
00039       *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
00040       offset += sizeof(this->position);
00041       union {
00042         double real;
00043         uint64_t base;
00044       } u_max_effort;
00045       u_max_effort.real = this->max_effort;
00046       *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
00047       *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
00048       *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
00049       *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
00050       *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
00051       *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
00052       *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
00053       *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
00054       offset += sizeof(this->max_effort);
00055       return offset;
00056     }
00057 
00058     virtual int deserialize(unsigned char *inbuffer)
00059     {
00060       int offset = 0;
00061       union {
00062         double real;
00063         uint64_t base;
00064       } u_position;
00065       u_position.base = 0;
00066       u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00067       u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00068       u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00069       u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00070       u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00071       u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00072       u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00073       u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00074       this->position = u_position.real;
00075       offset += sizeof(this->position);
00076       union {
00077         double real;
00078         uint64_t base;
00079       } u_max_effort;
00080       u_max_effort.base = 0;
00081       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00082       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00083       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00084       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00085       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00086       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00087       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00088       u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00089       this->max_effort = u_max_effort.real;
00090       offset += sizeof(this->max_effort);
00091      return offset;
00092     }
00093 
00094     const char * getType(){ return "control_msgs/GripperCommand"; };
00095     const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
00096 
00097   };
00098 
00099 }
00100 #endif