PointHeadGoal.h

00001 #ifndef _ROS_control_msgs_PointHeadGoal_h
00002 #define _ROS_control_msgs_PointHeadGoal_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "geometry_msgs/PointStamped.h"
00009 #include "geometry_msgs/Vector3.h"
00010 #include "ros/duration.h"
00011 
00012 namespace control_msgs
00013 {
00014 
00015   class PointHeadGoal : public ros::Msg
00016   {
00017     public:
00018       geometry_msgs::PointStamped target;
00019       geometry_msgs::Vector3 pointing_axis;
00020       const char* pointing_frame;
00021       ros::Duration min_duration;
00022       double max_velocity;
00023 
00024     PointHeadGoal():
00025       target(),
00026       pointing_axis(),
00027       pointing_frame(""),
00028       min_duration(),
00029       max_velocity(0)
00030     {
00031     }
00032 
00033     virtual int serialize(unsigned char *outbuffer) const
00034     {
00035       int offset = 0;
00036       offset += this->target.serialize(outbuffer + offset);
00037       offset += this->pointing_axis.serialize(outbuffer + offset);
00038       uint32_t length_pointing_frame = strlen(this->pointing_frame);
00039       memcpy(outbuffer + offset, &length_pointing_frame, sizeof(uint32_t));
00040       offset += 4;
00041       memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
00042       offset += length_pointing_frame;
00043       *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
00044       *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
00045       *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
00046       *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
00047       offset += sizeof(this->min_duration.sec);
00048       *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
00049       *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
00050       *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
00051       *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
00052       offset += sizeof(this->min_duration.nsec);
00053       union {
00054         double real;
00055         uint64_t base;
00056       } u_max_velocity;
00057       u_max_velocity.real = this->max_velocity;
00058       *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
00059       *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
00060       *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
00061       *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
00062       *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
00063       *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
00064       *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
00065       *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
00066       offset += sizeof(this->max_velocity);
00067       return offset;
00068     }
00069 
00070     virtual int deserialize(unsigned char *inbuffer)
00071     {
00072       int offset = 0;
00073       offset += this->target.deserialize(inbuffer + offset);
00074       offset += this->pointing_axis.deserialize(inbuffer + offset);
00075       uint32_t length_pointing_frame;
00076       memcpy(&length_pointing_frame, (inbuffer + offset), sizeof(uint32_t));
00077       offset += 4;
00078       for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
00079           inbuffer[k-1]=inbuffer[k];
00080       }
00081       inbuffer[offset+length_pointing_frame-1]=0;
00082       this->pointing_frame = (char *)(inbuffer + offset-1);
00083       offset += length_pointing_frame;
00084       this->min_duration.sec =  ((uint32_t) (*(inbuffer + offset)));
00085       this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00086       this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00087       this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00088       offset += sizeof(this->min_duration.sec);
00089       this->min_duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
00090       this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00091       this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00092       this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00093       offset += sizeof(this->min_duration.nsec);
00094       union {
00095         double real;
00096         uint64_t base;
00097       } u_max_velocity;
00098       u_max_velocity.base = 0;
00099       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00100       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00101       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00102       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00103       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00104       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00105       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00106       u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00107       this->max_velocity = u_max_velocity.real;
00108       offset += sizeof(this->max_velocity);
00109      return offset;
00110     }
00111 
00112     const char * getType(){ return "control_msgs/PointHeadGoal"; };
00113     const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
00114 
00115   };
00116 
00117 }
00118 #endif