JointTrajectory.h

00001 #ifndef _ROS_trajectory_msgs_JointTrajectory_h
00002 #define _ROS_trajectory_msgs_JointTrajectory_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 trajectory_msgs
00012 {
00013 
00014   class JointTrajectory : 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       uint8_t points_length;
00022       trajectory_msgs::JointTrajectoryPoint st_points;
00023       trajectory_msgs::JointTrajectoryPoint * points;
00024 
00025     JointTrajectory():
00026       header(),
00027       joint_names_length(0), joint_names(NULL),
00028       points_length(0), points(NULL)
00029     {
00030     }
00031 
00032     virtual int serialize(unsigned char *outbuffer) const
00033     {
00034       int offset = 0;
00035       offset += this->header.serialize(outbuffer + offset);
00036       *(outbuffer + offset++) = joint_names_length;
00037       *(outbuffer + offset++) = 0;
00038       *(outbuffer + offset++) = 0;
00039       *(outbuffer + offset++) = 0;
00040       for( uint8_t i = 0; i < joint_names_length; i++){
00041       uint32_t length_joint_namesi = strlen(this->joint_names[i]);
00042       memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
00043       offset += 4;
00044       memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
00045       offset += length_joint_namesi;
00046       }
00047       *(outbuffer + offset++) = points_length;
00048       *(outbuffer + offset++) = 0;
00049       *(outbuffer + offset++) = 0;
00050       *(outbuffer + offset++) = 0;
00051       for( uint8_t i = 0; i < points_length; i++){
00052       offset += this->points[i].serialize(outbuffer + offset);
00053       }
00054       return offset;
00055     }
00056 
00057     virtual int deserialize(unsigned char *inbuffer)
00058     {
00059       int offset = 0;
00060       offset += this->header.deserialize(inbuffer + offset);
00061       uint8_t joint_names_lengthT = *(inbuffer + offset++);
00062       if(joint_names_lengthT > joint_names_length)
00063         this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
00064       offset += 3;
00065       joint_names_length = joint_names_lengthT;
00066       for( uint8_t i = 0; i < joint_names_length; i++){
00067       uint32_t length_st_joint_names;
00068       memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
00069       offset += 4;
00070       for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
00071           inbuffer[k-1]=inbuffer[k];
00072       }
00073       inbuffer[offset+length_st_joint_names-1]=0;
00074       this->st_joint_names = (char *)(inbuffer + offset-1);
00075       offset += length_st_joint_names;
00076         memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
00077       }
00078       uint8_t points_lengthT = *(inbuffer + offset++);
00079       if(points_lengthT > points_length)
00080         this->points = (trajectory_msgs::JointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::JointTrajectoryPoint));
00081       offset += 3;
00082       points_length = points_lengthT;
00083       for( uint8_t i = 0; i < points_length; i++){
00084       offset += this->st_points.deserialize(inbuffer + offset);
00085         memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::JointTrajectoryPoint));
00086       }
00087      return offset;
00088     }
00089 
00090     const char * getType(){ return "trajectory_msgs/JointTrajectory"; };
00091     const char * getMD5(){ return "65b4f94a94d1ed67169da35a02f33d3f"; };
00092 
00093   };
00094 
00095 }
00096 #endif