Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/JointControllerState.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_JointControllerState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_JointControllerState_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace control_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class JointControllerState : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef double _set_point_type;
garyservin 0:9e9b7db60fd5 19 _set_point_type set_point;
garyservin 0:9e9b7db60fd5 20 typedef double _process_value_type;
garyservin 0:9e9b7db60fd5 21 _process_value_type process_value;
garyservin 0:9e9b7db60fd5 22 typedef double _process_value_dot_type;
garyservin 0:9e9b7db60fd5 23 _process_value_dot_type process_value_dot;
garyservin 0:9e9b7db60fd5 24 typedef double _error_type;
garyservin 0:9e9b7db60fd5 25 _error_type error;
garyservin 0:9e9b7db60fd5 26 typedef double _time_step_type;
garyservin 0:9e9b7db60fd5 27 _time_step_type time_step;
garyservin 0:9e9b7db60fd5 28 typedef double _command_type;
garyservin 0:9e9b7db60fd5 29 _command_type command;
garyservin 0:9e9b7db60fd5 30 typedef double _p_type;
garyservin 0:9e9b7db60fd5 31 _p_type p;
garyservin 0:9e9b7db60fd5 32 typedef double _i_type;
garyservin 0:9e9b7db60fd5 33 _i_type i;
garyservin 0:9e9b7db60fd5 34 typedef double _d_type;
garyservin 0:9e9b7db60fd5 35 _d_type d;
garyservin 0:9e9b7db60fd5 36 typedef double _i_clamp_type;
garyservin 0:9e9b7db60fd5 37 _i_clamp_type i_clamp;
garyservin 0:9e9b7db60fd5 38 typedef bool _antiwindup_type;
garyservin 0:9e9b7db60fd5 39 _antiwindup_type antiwindup;
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 JointControllerState():
garyservin 0:9e9b7db60fd5 42 header(),
garyservin 0:9e9b7db60fd5 43 set_point(0),
garyservin 0:9e9b7db60fd5 44 process_value(0),
garyservin 0:9e9b7db60fd5 45 process_value_dot(0),
garyservin 0:9e9b7db60fd5 46 error(0),
garyservin 0:9e9b7db60fd5 47 time_step(0),
garyservin 0:9e9b7db60fd5 48 command(0),
garyservin 0:9e9b7db60fd5 49 p(0),
garyservin 0:9e9b7db60fd5 50 i(0),
garyservin 0:9e9b7db60fd5 51 d(0),
garyservin 0:9e9b7db60fd5 52 i_clamp(0),
garyservin 0:9e9b7db60fd5 53 antiwindup(0)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 }
garyservin 0:9e9b7db60fd5 56
garyservin 0:9e9b7db60fd5 57 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 58 {
garyservin 0:9e9b7db60fd5 59 int offset = 0;
garyservin 0:9e9b7db60fd5 60 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 61 union {
garyservin 0:9e9b7db60fd5 62 double real;
garyservin 0:9e9b7db60fd5 63 uint64_t base;
garyservin 0:9e9b7db60fd5 64 } u_set_point;
garyservin 0:9e9b7db60fd5 65 u_set_point.real = this->set_point;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->set_point);
garyservin 0:9e9b7db60fd5 75 union {
garyservin 0:9e9b7db60fd5 76 double real;
garyservin 0:9e9b7db60fd5 77 uint64_t base;
garyservin 0:9e9b7db60fd5 78 } u_process_value;
garyservin 0:9e9b7db60fd5 79 u_process_value.real = this->process_value;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->process_value);
garyservin 0:9e9b7db60fd5 89 union {
garyservin 0:9e9b7db60fd5 90 double real;
garyservin 0:9e9b7db60fd5 91 uint64_t base;
garyservin 0:9e9b7db60fd5 92 } u_process_value_dot;
garyservin 0:9e9b7db60fd5 93 u_process_value_dot.real = this->process_value_dot;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->process_value_dot);
garyservin 0:9e9b7db60fd5 103 union {
garyservin 0:9e9b7db60fd5 104 double real;
garyservin 0:9e9b7db60fd5 105 uint64_t base;
garyservin 0:9e9b7db60fd5 106 } u_error;
garyservin 0:9e9b7db60fd5 107 u_error.real = this->error;
garyservin 0:9e9b7db60fd5 108 *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 112 *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 offset += sizeof(this->error);
garyservin 0:9e9b7db60fd5 117 union {
garyservin 0:9e9b7db60fd5 118 double real;
garyservin 0:9e9b7db60fd5 119 uint64_t base;
garyservin 0:9e9b7db60fd5 120 } u_time_step;
garyservin 0:9e9b7db60fd5 121 u_time_step.real = this->time_step;
garyservin 0:9e9b7db60fd5 122 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 123 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 124 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 129 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 130 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 131 union {
garyservin 0:9e9b7db60fd5 132 double real;
garyservin 0:9e9b7db60fd5 133 uint64_t base;
garyservin 0:9e9b7db60fd5 134 } u_command;
garyservin 0:9e9b7db60fd5 135 u_command.real = this->command;
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 140 *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 141 *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 142 *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 143 *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->command);
garyservin 0:9e9b7db60fd5 145 union {
garyservin 0:9e9b7db60fd5 146 double real;
garyservin 0:9e9b7db60fd5 147 uint64_t base;
garyservin 0:9e9b7db60fd5 148 } u_p;
garyservin 0:9e9b7db60fd5 149 u_p.real = this->p;
garyservin 0:9e9b7db60fd5 150 *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 151 *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 152 *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 153 *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 154 *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 155 *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 156 *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 157 *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 158 offset += sizeof(this->p);
garyservin 0:9e9b7db60fd5 159 union {
garyservin 0:9e9b7db60fd5 160 double real;
garyservin 0:9e9b7db60fd5 161 uint64_t base;
garyservin 0:9e9b7db60fd5 162 } u_i;
garyservin 0:9e9b7db60fd5 163 u_i.real = this->i;
garyservin 0:9e9b7db60fd5 164 *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 165 *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 166 *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 167 *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 168 *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 169 *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 170 *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 171 *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 172 offset += sizeof(this->i);
garyservin 0:9e9b7db60fd5 173 union {
garyservin 0:9e9b7db60fd5 174 double real;
garyservin 0:9e9b7db60fd5 175 uint64_t base;
garyservin 0:9e9b7db60fd5 176 } u_d;
garyservin 0:9e9b7db60fd5 177 u_d.real = this->d;
garyservin 0:9e9b7db60fd5 178 *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 179 *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 180 *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 181 *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 182 *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 183 *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 184 *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 185 *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 186 offset += sizeof(this->d);
garyservin 0:9e9b7db60fd5 187 union {
garyservin 0:9e9b7db60fd5 188 double real;
garyservin 0:9e9b7db60fd5 189 uint64_t base;
garyservin 0:9e9b7db60fd5 190 } u_i_clamp;
garyservin 0:9e9b7db60fd5 191 u_i_clamp.real = this->i_clamp;
garyservin 0:9e9b7db60fd5 192 *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 193 *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 194 *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 195 *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 196 *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 197 *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 198 *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 199 *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 200 offset += sizeof(this->i_clamp);
garyservin 0:9e9b7db60fd5 201 union {
garyservin 0:9e9b7db60fd5 202 bool real;
garyservin 0:9e9b7db60fd5 203 uint8_t base;
garyservin 0:9e9b7db60fd5 204 } u_antiwindup;
garyservin 0:9e9b7db60fd5 205 u_antiwindup.real = this->antiwindup;
garyservin 0:9e9b7db60fd5 206 *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 207 offset += sizeof(this->antiwindup);
garyservin 0:9e9b7db60fd5 208 return offset;
garyservin 0:9e9b7db60fd5 209 }
garyservin 0:9e9b7db60fd5 210
garyservin 0:9e9b7db60fd5 211 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 212 {
garyservin 0:9e9b7db60fd5 213 int offset = 0;
garyservin 0:9e9b7db60fd5 214 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 215 union {
garyservin 0:9e9b7db60fd5 216 double real;
garyservin 0:9e9b7db60fd5 217 uint64_t base;
garyservin 0:9e9b7db60fd5 218 } u_set_point;
garyservin 0:9e9b7db60fd5 219 u_set_point.base = 0;
garyservin 0:9e9b7db60fd5 220 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 221 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 222 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 223 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 224 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 225 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 226 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 227 u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 228 this->set_point = u_set_point.real;
garyservin 0:9e9b7db60fd5 229 offset += sizeof(this->set_point);
garyservin 0:9e9b7db60fd5 230 union {
garyservin 0:9e9b7db60fd5 231 double real;
garyservin 0:9e9b7db60fd5 232 uint64_t base;
garyservin 0:9e9b7db60fd5 233 } u_process_value;
garyservin 0:9e9b7db60fd5 234 u_process_value.base = 0;
garyservin 0:9e9b7db60fd5 235 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 236 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 237 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 238 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 239 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 240 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 241 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 242 u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 243 this->process_value = u_process_value.real;
garyservin 0:9e9b7db60fd5 244 offset += sizeof(this->process_value);
garyservin 0:9e9b7db60fd5 245 union {
garyservin 0:9e9b7db60fd5 246 double real;
garyservin 0:9e9b7db60fd5 247 uint64_t base;
garyservin 0:9e9b7db60fd5 248 } u_process_value_dot;
garyservin 0:9e9b7db60fd5 249 u_process_value_dot.base = 0;
garyservin 0:9e9b7db60fd5 250 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 251 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 252 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 253 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 254 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 255 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 256 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 257 u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 258 this->process_value_dot = u_process_value_dot.real;
garyservin 0:9e9b7db60fd5 259 offset += sizeof(this->process_value_dot);
garyservin 0:9e9b7db60fd5 260 union {
garyservin 0:9e9b7db60fd5 261 double real;
garyservin 0:9e9b7db60fd5 262 uint64_t base;
garyservin 0:9e9b7db60fd5 263 } u_error;
garyservin 0:9e9b7db60fd5 264 u_error.base = 0;
garyservin 0:9e9b7db60fd5 265 u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 266 u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 267 u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 268 u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 269 u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 270 u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 271 u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 272 u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 273 this->error = u_error.real;
garyservin 0:9e9b7db60fd5 274 offset += sizeof(this->error);
garyservin 0:9e9b7db60fd5 275 union {
garyservin 0:9e9b7db60fd5 276 double real;
garyservin 0:9e9b7db60fd5 277 uint64_t base;
garyservin 0:9e9b7db60fd5 278 } u_time_step;
garyservin 0:9e9b7db60fd5 279 u_time_step.base = 0;
garyservin 0:9e9b7db60fd5 280 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 281 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 282 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 283 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 284 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 285 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 286 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 287 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 288 this->time_step = u_time_step.real;
garyservin 0:9e9b7db60fd5 289 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 290 union {
garyservin 0:9e9b7db60fd5 291 double real;
garyservin 0:9e9b7db60fd5 292 uint64_t base;
garyservin 0:9e9b7db60fd5 293 } u_command;
garyservin 0:9e9b7db60fd5 294 u_command.base = 0;
garyservin 0:9e9b7db60fd5 295 u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 296 u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 297 u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 298 u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 299 u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 300 u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 301 u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 302 u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 303 this->command = u_command.real;
garyservin 0:9e9b7db60fd5 304 offset += sizeof(this->command);
garyservin 0:9e9b7db60fd5 305 union {
garyservin 0:9e9b7db60fd5 306 double real;
garyservin 0:9e9b7db60fd5 307 uint64_t base;
garyservin 0:9e9b7db60fd5 308 } u_p;
garyservin 0:9e9b7db60fd5 309 u_p.base = 0;
garyservin 0:9e9b7db60fd5 310 u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 311 u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 312 u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 313 u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 314 u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 315 u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 316 u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 317 u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 318 this->p = u_p.real;
garyservin 0:9e9b7db60fd5 319 offset += sizeof(this->p);
garyservin 0:9e9b7db60fd5 320 union {
garyservin 0:9e9b7db60fd5 321 double real;
garyservin 0:9e9b7db60fd5 322 uint64_t base;
garyservin 0:9e9b7db60fd5 323 } u_i;
garyservin 0:9e9b7db60fd5 324 u_i.base = 0;
garyservin 0:9e9b7db60fd5 325 u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 326 u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 327 u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 328 u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 329 u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 330 u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 331 u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 332 u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 333 this->i = u_i.real;
garyservin 0:9e9b7db60fd5 334 offset += sizeof(this->i);
garyservin 0:9e9b7db60fd5 335 union {
garyservin 0:9e9b7db60fd5 336 double real;
garyservin 0:9e9b7db60fd5 337 uint64_t base;
garyservin 0:9e9b7db60fd5 338 } u_d;
garyservin 0:9e9b7db60fd5 339 u_d.base = 0;
garyservin 0:9e9b7db60fd5 340 u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 341 u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 342 u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 343 u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 344 u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 345 u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 346 u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 347 u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 348 this->d = u_d.real;
garyservin 0:9e9b7db60fd5 349 offset += sizeof(this->d);
garyservin 0:9e9b7db60fd5 350 union {
garyservin 0:9e9b7db60fd5 351 double real;
garyservin 0:9e9b7db60fd5 352 uint64_t base;
garyservin 0:9e9b7db60fd5 353 } u_i_clamp;
garyservin 0:9e9b7db60fd5 354 u_i_clamp.base = 0;
garyservin 0:9e9b7db60fd5 355 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 356 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 357 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 358 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 359 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 360 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 361 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 362 u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 363 this->i_clamp = u_i_clamp.real;
garyservin 0:9e9b7db60fd5 364 offset += sizeof(this->i_clamp);
garyservin 0:9e9b7db60fd5 365 union {
garyservin 0:9e9b7db60fd5 366 bool real;
garyservin 0:9e9b7db60fd5 367 uint8_t base;
garyservin 0:9e9b7db60fd5 368 } u_antiwindup;
garyservin 0:9e9b7db60fd5 369 u_antiwindup.base = 0;
garyservin 0:9e9b7db60fd5 370 u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 371 this->antiwindup = u_antiwindup.real;
garyservin 0:9e9b7db60fd5 372 offset += sizeof(this->antiwindup);
garyservin 0:9e9b7db60fd5 373 return offset;
garyservin 0:9e9b7db60fd5 374 }
garyservin 0:9e9b7db60fd5 375
garyservin 0:9e9b7db60fd5 376 const char * getType(){ return "control_msgs/JointControllerState"; };
garyservin 0:9e9b7db60fd5 377 const char * getMD5(){ return "987ad85e4756f3aef7f1e5e7fe0595d1"; };
garyservin 0:9e9b7db60fd5 378
garyservin 0:9e9b7db60fd5 379 };
garyservin 0:9e9b7db60fd5 380
garyservin 0:9e9b7db60fd5 381 }
garyservin 0:9e9b7db60fd5 382 #endif