John Lam
make changes on buffer serial
Diff: trajectory_msgs/JointTrajectoryPoint.h
- Revision:
- 0:04ac6be8229a
diff -r 000000000000 -r 04ac6be8229a trajectory_msgs/JointTrajectoryPoint.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/JointTrajectoryPoint.h Fri Nov 08 14:38:09 2019 -0300
@@ -0,0 +1,270 @@
+#ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_JointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+ class JointTrajectoryPoint : public ros::Msg
+ {
+ public:
+ uint32_t positions_length;
+ typedef double _positions_type;
+ _positions_type st_positions;
+ _positions_type * positions;
+ uint32_t velocities_length;
+ typedef double _velocities_type;
+ _velocities_type st_velocities;
+ _velocities_type * velocities;
+ uint32_t accelerations_length;
+ typedef double _accelerations_type;
+ _accelerations_type st_accelerations;
+ _accelerations_type * accelerations;
+ uint32_t effort_length;
+ typedef double _effort_type;
+ _effort_type st_effort;
+ _effort_type * effort;
+ typedef ros::Duration _time_from_start_type;
+ _time_from_start_type time_from_start;
+
+ JointTrajectoryPoint():
+ positions_length(0), positions(NULL),
+ velocities_length(0), velocities(NULL),
+ accelerations_length(0), accelerations(NULL),
+ effort_length(0), effort(NULL),
+ time_from_start()
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ *(outbuffer + offset + 0) = (this->positions_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->positions_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->positions_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->positions_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->positions_length);
+ for( uint32_t i = 0; i < positions_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_positionsi;
+ u_positionsi.real = this->positions[i];
+ *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->positions[i]);
+ }
+ *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->velocities_length);
+ for( uint32_t i = 0; i < velocities_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_velocitiesi;
+ u_velocitiesi.real = this->velocities[i];
+ *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->velocities[i]);
+ }
+ *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->accelerations_length);
+ for( uint32_t i = 0; i < accelerations_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_accelerationsi;
+ u_accelerationsi.real = this->accelerations[i];
+ *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->accelerations[i]);
+ }
+ *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->effort_length);
+ for( uint32_t i = 0; i < effort_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_efforti;
+ u_efforti.real = this->effort[i];
+ *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->effort[i]);
+ }
+ *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->time_from_start.sec);
+ *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->time_from_start.nsec);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ uint32_t positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->positions_length);
+ if(positions_lengthT > positions_length)
+ this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double));
+ positions_length = positions_lengthT;
+ for( uint32_t i = 0; i < positions_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_positions;
+ u_st_positions.base = 0;
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_positions = u_st_positions.real;
+ offset += sizeof(this->st_positions);
+ memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double));
+ }
+ uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->velocities_length);
+ if(velocities_lengthT > velocities_length)
+ this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
+ velocities_length = velocities_lengthT;
+ for( uint32_t i = 0; i < velocities_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_velocities;
+ u_st_velocities.base = 0;
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_velocities = u_st_velocities.real;
+ offset += sizeof(this->st_velocities);
+ memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
+ }
+ uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->accelerations_length);
+ if(accelerations_lengthT > accelerations_length)
+ this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double));
+ accelerations_length = accelerations_lengthT;
+ for( uint32_t i = 0; i < accelerations_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_accelerations;
+ u_st_accelerations.base = 0;
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_accelerations = u_st_accelerations.real;
+ offset += sizeof(this->st_accelerations);
+ memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double));
+ }
+ uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset)));
+ effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->effort_length);
+ if(effort_lengthT > effort_length)
+ this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
+ effort_length = effort_lengthT;
+ for( uint32_t i = 0; i < effort_length; i++){
+ union {
+ double real;
+ uint64_t base;
+ } u_st_effort;
+ u_st_effort.base = 0;
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_effort = u_st_effort.real;
+ offset += sizeof(this->st_effort);
+ memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
+ }
+ this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset)));
+ this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->time_from_start.sec);
+ this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset)));
+ this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ offset += sizeof(this->time_from_start.nsec);
+ return offset;
+ }
+
+ const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
+ const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
+
+ };
+
+}
+#endif