MultiDOFJointState.h

00001 #ifndef _ROS_sensor_msgs_MultiDOFJointState_h
00002 #define _ROS_sensor_msgs_MultiDOFJointState_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 "geometry_msgs/Transform.h"
00010 #include "geometry_msgs/Twist.h"
00011 #include "geometry_msgs/Wrench.h"
00012 
00013 namespace sensor_msgs
00014 {
00015 
00016   class MultiDOFJointState : public ros::Msg
00017   {
00018     public:
00019       std_msgs::Header header;
00020       uint8_t joint_names_length;
00021       char* st_joint_names;
00022       char* * joint_names;
00023       uint8_t transforms_length;
00024       geometry_msgs::Transform st_transforms;
00025       geometry_msgs::Transform * transforms;
00026       uint8_t twist_length;
00027       geometry_msgs::Twist st_twist;
00028       geometry_msgs::Twist * twist;
00029       uint8_t wrench_length;
00030       geometry_msgs::Wrench st_wrench;
00031       geometry_msgs::Wrench * wrench;
00032 
00033     MultiDOFJointState():
00034       header(),
00035       joint_names_length(0), joint_names(NULL),
00036       transforms_length(0), transforms(NULL),
00037       twist_length(0), twist(NULL),
00038       wrench_length(0), wrench(NULL)
00039     {
00040     }
00041 
00042     virtual int serialize(unsigned char *outbuffer) const
00043     {
00044       int offset = 0;
00045       offset += this->header.serialize(outbuffer + offset);
00046       *(outbuffer + offset++) = joint_names_length;
00047       *(outbuffer + offset++) = 0;
00048       *(outbuffer + offset++) = 0;
00049       *(outbuffer + offset++) = 0;
00050       for( uint8_t i = 0; i < joint_names_length; i++){
00051       uint32_t length_joint_namesi = strlen(this->joint_names[i]);
00052       memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
00053       offset += 4;
00054       memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
00055       offset += length_joint_namesi;
00056       }
00057       *(outbuffer + offset++) = transforms_length;
00058       *(outbuffer + offset++) = 0;
00059       *(outbuffer + offset++) = 0;
00060       *(outbuffer + offset++) = 0;
00061       for( uint8_t i = 0; i < transforms_length; i++){
00062       offset += this->transforms[i].serialize(outbuffer + offset);
00063       }
00064       *(outbuffer + offset++) = twist_length;
00065       *(outbuffer + offset++) = 0;
00066       *(outbuffer + offset++) = 0;
00067       *(outbuffer + offset++) = 0;
00068       for( uint8_t i = 0; i < twist_length; i++){
00069       offset += this->twist[i].serialize(outbuffer + offset);
00070       }
00071       *(outbuffer + offset++) = wrench_length;
00072       *(outbuffer + offset++) = 0;
00073       *(outbuffer + offset++) = 0;
00074       *(outbuffer + offset++) = 0;
00075       for( uint8_t i = 0; i < wrench_length; i++){
00076       offset += this->wrench[i].serialize(outbuffer + offset);
00077       }
00078       return offset;
00079     }
00080 
00081     virtual int deserialize(unsigned char *inbuffer)
00082     {
00083       int offset = 0;
00084       offset += this->header.deserialize(inbuffer + offset);
00085       uint8_t joint_names_lengthT = *(inbuffer + offset++);
00086       if(joint_names_lengthT > joint_names_length)
00087         this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
00088       offset += 3;
00089       joint_names_length = joint_names_lengthT;
00090       for( uint8_t i = 0; i < joint_names_length; i++){
00091       uint32_t length_st_joint_names;
00092       memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
00093       offset += 4;
00094       for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
00095           inbuffer[k-1]=inbuffer[k];
00096       }
00097       inbuffer[offset+length_st_joint_names-1]=0;
00098       this->st_joint_names = (char *)(inbuffer + offset-1);
00099       offset += length_st_joint_names;
00100         memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
00101       }
00102       uint8_t transforms_lengthT = *(inbuffer + offset++);
00103       if(transforms_lengthT > transforms_length)
00104         this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
00105       offset += 3;
00106       transforms_length = transforms_lengthT;
00107       for( uint8_t i = 0; i < transforms_length; i++){
00108       offset += this->st_transforms.deserialize(inbuffer + offset);
00109         memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
00110       }
00111       uint8_t twist_lengthT = *(inbuffer + offset++);
00112       if(twist_lengthT > twist_length)
00113         this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
00114       offset += 3;
00115       twist_length = twist_lengthT;
00116       for( uint8_t i = 0; i < twist_length; i++){
00117       offset += this->st_twist.deserialize(inbuffer + offset);
00118         memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
00119       }
00120       uint8_t wrench_lengthT = *(inbuffer + offset++);
00121       if(wrench_lengthT > wrench_length)
00122         this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
00123       offset += 3;
00124       wrench_length = wrench_lengthT;
00125       for( uint8_t i = 0; i < wrench_length; i++){
00126       offset += this->st_wrench.deserialize(inbuffer + offset);
00127         memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
00128       }
00129      return offset;
00130     }
00131 
00132     const char * getType(){ return "sensor_msgs/MultiDOFJointState"; };
00133     const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; };
00134 
00135   };
00136 
00137 }
00138 #endif