JointTrajectoryPoint.h

00001 #ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h
00002 #define _ROS_trajectory_msgs_JointTrajectoryPoint_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "ros/duration.h"
00009 
00010 namespace trajectory_msgs
00011 {
00012 
00013   class JointTrajectoryPoint : public ros::Msg
00014   {
00015     public:
00016       uint8_t positions_length;
00017       double st_positions;
00018       double * positions;
00019       uint8_t velocities_length;
00020       double st_velocities;
00021       double * velocities;
00022       uint8_t accelerations_length;
00023       double st_accelerations;
00024       double * accelerations;
00025       uint8_t effort_length;
00026       double st_effort;
00027       double * effort;
00028       ros::Duration time_from_start;
00029 
00030     JointTrajectoryPoint():
00031       positions_length(0), positions(NULL),
00032       velocities_length(0), velocities(NULL),
00033       accelerations_length(0), accelerations(NULL),
00034       effort_length(0), effort(NULL),
00035       time_from_start()
00036     {
00037     }
00038 
00039     virtual int serialize(unsigned char *outbuffer) const
00040     {
00041       int offset = 0;
00042       *(outbuffer + offset++) = positions_length;
00043       *(outbuffer + offset++) = 0;
00044       *(outbuffer + offset++) = 0;
00045       *(outbuffer + offset++) = 0;
00046       for( uint8_t i = 0; i < positions_length; i++){
00047       union {
00048         double real;
00049         uint64_t base;
00050       } u_positionsi;
00051       u_positionsi.real = this->positions[i];
00052       *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF;
00053       *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF;
00054       *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF;
00055       *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF;
00056       *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF;
00057       *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF;
00058       *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF;
00059       *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF;
00060       offset += sizeof(this->positions[i]);
00061       }
00062       *(outbuffer + offset++) = velocities_length;
00063       *(outbuffer + offset++) = 0;
00064       *(outbuffer + offset++) = 0;
00065       *(outbuffer + offset++) = 0;
00066       for( uint8_t i = 0; i < velocities_length; i++){
00067       union {
00068         double real;
00069         uint64_t base;
00070       } u_velocitiesi;
00071       u_velocitiesi.real = this->velocities[i];
00072       *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
00073       *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
00074       *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
00075       *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
00076       *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
00077       *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
00078       *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
00079       *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
00080       offset += sizeof(this->velocities[i]);
00081       }
00082       *(outbuffer + offset++) = accelerations_length;
00083       *(outbuffer + offset++) = 0;
00084       *(outbuffer + offset++) = 0;
00085       *(outbuffer + offset++) = 0;
00086       for( uint8_t i = 0; i < accelerations_length; i++){
00087       union {
00088         double real;
00089         uint64_t base;
00090       } u_accelerationsi;
00091       u_accelerationsi.real = this->accelerations[i];
00092       *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF;
00093       *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF;
00094       *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF;
00095       *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF;
00096       *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF;
00097       *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF;
00098       *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF;
00099       *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF;
00100       offset += sizeof(this->accelerations[i]);
00101       }
00102       *(outbuffer + offset++) = effort_length;
00103       *(outbuffer + offset++) = 0;
00104       *(outbuffer + offset++) = 0;
00105       *(outbuffer + offset++) = 0;
00106       for( uint8_t i = 0; i < effort_length; i++){
00107       union {
00108         double real;
00109         uint64_t base;
00110       } u_efforti;
00111       u_efforti.real = this->effort[i];
00112       *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
00113       *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
00114       *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
00115       *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
00116       *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
00117       *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
00118       *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
00119       *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
00120       offset += sizeof(this->effort[i]);
00121       }
00122       *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
00123       *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
00124       *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
00125       *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
00126       offset += sizeof(this->time_from_start.sec);
00127       *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
00128       *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
00129       *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
00130       *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
00131       offset += sizeof(this->time_from_start.nsec);
00132       return offset;
00133     }
00134 
00135     virtual int deserialize(unsigned char *inbuffer)
00136     {
00137       int offset = 0;
00138       uint8_t positions_lengthT = *(inbuffer + offset++);
00139       if(positions_lengthT > positions_length)
00140         this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double));
00141       offset += 3;
00142       positions_length = positions_lengthT;
00143       for( uint8_t i = 0; i < positions_length; i++){
00144       union {
00145         double real;
00146         uint64_t base;
00147       } u_st_positions;
00148       u_st_positions.base = 0;
00149       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00150       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00151       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00152       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00153       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00154       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00155       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00156       u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00157       this->st_positions = u_st_positions.real;
00158       offset += sizeof(this->st_positions);
00159         memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double));
00160       }
00161       uint8_t velocities_lengthT = *(inbuffer + offset++);
00162       if(velocities_lengthT > velocities_length)
00163         this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
00164       offset += 3;
00165       velocities_length = velocities_lengthT;
00166       for( uint8_t i = 0; i < velocities_length; i++){
00167       union {
00168         double real;
00169         uint64_t base;
00170       } u_st_velocities;
00171       u_st_velocities.base = 0;
00172       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00173       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00174       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00175       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00176       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00177       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00178       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00179       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00180       this->st_velocities = u_st_velocities.real;
00181       offset += sizeof(this->st_velocities);
00182         memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
00183       }
00184       uint8_t accelerations_lengthT = *(inbuffer + offset++);
00185       if(accelerations_lengthT > accelerations_length)
00186         this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double));
00187       offset += 3;
00188       accelerations_length = accelerations_lengthT;
00189       for( uint8_t i = 0; i < accelerations_length; i++){
00190       union {
00191         double real;
00192         uint64_t base;
00193       } u_st_accelerations;
00194       u_st_accelerations.base = 0;
00195       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00196       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00197       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00198       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00199       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00200       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00201       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00202       u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00203       this->st_accelerations = u_st_accelerations.real;
00204       offset += sizeof(this->st_accelerations);
00205         memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double));
00206       }
00207       uint8_t effort_lengthT = *(inbuffer + offset++);
00208       if(effort_lengthT > effort_length)
00209         this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
00210       offset += 3;
00211       effort_length = effort_lengthT;
00212       for( uint8_t i = 0; i < effort_length; i++){
00213       union {
00214         double real;
00215         uint64_t base;
00216       } u_st_effort;
00217       u_st_effort.base = 0;
00218       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00219       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00220       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00221       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00222       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00223       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00224       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00225       u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00226       this->st_effort = u_st_effort.real;
00227       offset += sizeof(this->st_effort);
00228         memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
00229       }
00230       this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
00231       this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00232       this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00233       this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00234       offset += sizeof(this->time_from_start.sec);
00235       this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
00236       this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00237       this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00238       this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00239       offset += sizeof(this->time_from_start.nsec);
00240      return offset;
00241     }
00242 
00243     const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
00244     const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
00245 
00246   };
00247 
00248 }
00249 #endif