JointTrajectoryControllerState.h

00001 #ifndef _ROS_control_msgs_JointTrajectoryControllerState_h
00002 #define _ROS_control_msgs_JointTrajectoryControllerState_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "trajectory_msgs/JointTrajectoryPoint.h"
00010 
00011 namespace control_msgs
00012 {
00013 
00014   class JointTrajectoryControllerState : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       uint8_t joint_names_length;
00019       char* st_joint_names;
00020       char* * joint_names;
00021       trajectory_msgs::JointTrajectoryPoint desired;
00022       trajectory_msgs::JointTrajectoryPoint actual;
00023       trajectory_msgs::JointTrajectoryPoint error;
00024 
00025     JointTrajectoryControllerState():
00026       header(),
00027       joint_names_length(0), joint_names(NULL),
00028       desired(),
00029       actual(),
00030       error()
00031     {
00032     }
00033 
00034     virtual int serialize(unsigned char *outbuffer) const
00035     {
00036       int offset = 0;
00037       offset += this->header.serialize(outbuffer + offset);
00038       *(outbuffer + offset++) = joint_names_length;
00039       *(outbuffer + offset++) = 0;
00040       *(outbuffer + offset++) = 0;
00041       *(outbuffer + offset++) = 0;
00042       for( uint8_t i = 0; i < joint_names_length; i++){
00043       uint32_t length_joint_namesi = strlen(this->joint_names[i]);
00044       memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
00045       offset += 4;
00046       memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
00047       offset += length_joint_namesi;
00048       }
00049       offset += this->desired.serialize(outbuffer + offset);
00050       offset += this->actual.serialize(outbuffer + offset);
00051       offset += this->error.serialize(outbuffer + offset);
00052       return offset;
00053     }
00054 
00055     virtual int deserialize(unsigned char *inbuffer)
00056     {
00057       int offset = 0;
00058       offset += this->header.deserialize(inbuffer + offset);
00059       uint8_t joint_names_lengthT = *(inbuffer + offset++);
00060       if(joint_names_lengthT > joint_names_length)
00061         this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
00062       offset += 3;
00063       joint_names_length = joint_names_lengthT;
00064       for( uint8_t i = 0; i < joint_names_length; i++){
00065       uint32_t length_st_joint_names;
00066       memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
00067       offset += 4;
00068       for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
00069           inbuffer[k-1]=inbuffer[k];
00070       }
00071       inbuffer[offset+length_st_joint_names-1]=0;
00072       this->st_joint_names = (char *)(inbuffer + offset-1);
00073       offset += length_st_joint_names;
00074         memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
00075       }
00076       offset += this->desired.deserialize(inbuffer + offset);
00077       offset += this->actual.deserialize(inbuffer + offset);
00078       offset += this->error.deserialize(inbuffer + offset);
00079      return offset;
00080     }
00081 
00082     const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; };
00083     const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
00084 
00085   };
00086 
00087 }
00088 #endif