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

trajectory_msgs/JointTrajectoryPoint.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_trajectory_msgs_JointTrajectoryPoint_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_trajectory_msgs_JointTrajectoryPoint_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 "ros/duration.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace trajectory_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class JointTrajectoryPoint : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 uint32_t positions_length;
garyservin 0:9e9b7db60fd5 17 typedef double _positions_type;
garyservin 0:9e9b7db60fd5 18 _positions_type st_positions;
garyservin 0:9e9b7db60fd5 19 _positions_type * positions;
garyservin 0:9e9b7db60fd5 20 uint32_t velocities_length;
garyservin 0:9e9b7db60fd5 21 typedef double _velocities_type;
garyservin 0:9e9b7db60fd5 22 _velocities_type st_velocities;
garyservin 0:9e9b7db60fd5 23 _velocities_type * velocities;
garyservin 0:9e9b7db60fd5 24 uint32_t accelerations_length;
garyservin 0:9e9b7db60fd5 25 typedef double _accelerations_type;
garyservin 0:9e9b7db60fd5 26 _accelerations_type st_accelerations;
garyservin 0:9e9b7db60fd5 27 _accelerations_type * accelerations;
garyservin 0:9e9b7db60fd5 28 uint32_t effort_length;
garyservin 0:9e9b7db60fd5 29 typedef double _effort_type;
garyservin 0:9e9b7db60fd5 30 _effort_type st_effort;
garyservin 0:9e9b7db60fd5 31 _effort_type * effort;
garyservin 0:9e9b7db60fd5 32 typedef ros::Duration _time_from_start_type;
garyservin 0:9e9b7db60fd5 33 _time_from_start_type time_from_start;
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 JointTrajectoryPoint():
garyservin 0:9e9b7db60fd5 36 positions_length(0), positions(NULL),
garyservin 0:9e9b7db60fd5 37 velocities_length(0), velocities(NULL),
garyservin 0:9e9b7db60fd5 38 accelerations_length(0), accelerations(NULL),
garyservin 0:9e9b7db60fd5 39 effort_length(0), effort(NULL),
garyservin 0:9e9b7db60fd5 40 time_from_start()
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 int offset = 0;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->positions_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (this->positions_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 2) = (this->positions_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 3) = (this->positions_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->positions_length);
garyservin 0:9e9b7db60fd5 52 for( uint32_t i = 0; i < positions_length; i++){
garyservin 0:9e9b7db60fd5 53 union {
garyservin 0:9e9b7db60fd5 54 double real;
garyservin 0:9e9b7db60fd5 55 uint64_t base;
garyservin 0:9e9b7db60fd5 56 } u_positionsi;
garyservin 0:9e9b7db60fd5 57 u_positionsi.real = this->positions[i];
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->positions[i]);
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->velocities_length);
garyservin 0:9e9b7db60fd5 73 for( uint32_t i = 0; i < velocities_length; i++){
garyservin 0:9e9b7db60fd5 74 union {
garyservin 0:9e9b7db60fd5 75 double real;
garyservin 0:9e9b7db60fd5 76 uint64_t base;
garyservin 0:9e9b7db60fd5 77 } u_velocitiesi;
garyservin 0:9e9b7db60fd5 78 u_velocitiesi.real = this->velocities[i];
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->velocities[i]);
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 offset += sizeof(this->accelerations_length);
garyservin 0:9e9b7db60fd5 94 for( uint32_t i = 0; i < accelerations_length; i++){
garyservin 0:9e9b7db60fd5 95 union {
garyservin 0:9e9b7db60fd5 96 double real;
garyservin 0:9e9b7db60fd5 97 uint64_t base;
garyservin 0:9e9b7db60fd5 98 } u_accelerationsi;
garyservin 0:9e9b7db60fd5 99 u_accelerationsi.real = this->accelerations[i];
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 offset += sizeof(this->accelerations[i]);
garyservin 0:9e9b7db60fd5 109 }
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 112 *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 115 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 116 union {
garyservin 0:9e9b7db60fd5 117 double real;
garyservin 0:9e9b7db60fd5 118 uint64_t base;
garyservin 0:9e9b7db60fd5 119 } u_efforti;
garyservin 0:9e9b7db60fd5 120 u_efforti.real = this->effort[i];
garyservin 0:9e9b7db60fd5 121 *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 122 *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 123 *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 124 *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 129 offset += sizeof(this->effort[i]);
garyservin 0:9e9b7db60fd5 130 }
garyservin 0:9e9b7db60fd5 131 *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 132 *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 133 *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 134 *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 135 offset += sizeof(this->time_from_start.sec);
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 140 offset += sizeof(this->time_from_start.nsec);
garyservin 0:9e9b7db60fd5 141 return offset;
garyservin 0:9e9b7db60fd5 142 }
garyservin 0:9e9b7db60fd5 143
garyservin 0:9e9b7db60fd5 144 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 145 {
garyservin 0:9e9b7db60fd5 146 int offset = 0;
garyservin 0:9e9b7db60fd5 147 uint32_t positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 148 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 149 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 150 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 151 offset += sizeof(this->positions_length);
garyservin 0:9e9b7db60fd5 152 if(positions_lengthT > positions_length)
garyservin 0:9e9b7db60fd5 153 this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 154 positions_length = positions_lengthT;
garyservin 0:9e9b7db60fd5 155 for( uint32_t i = 0; i < positions_length; i++){
garyservin 0:9e9b7db60fd5 156 union {
garyservin 0:9e9b7db60fd5 157 double real;
garyservin 0:9e9b7db60fd5 158 uint64_t base;
garyservin 0:9e9b7db60fd5 159 } u_st_positions;
garyservin 0:9e9b7db60fd5 160 u_st_positions.base = 0;
garyservin 0:9e9b7db60fd5 161 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 162 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 163 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 164 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 165 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 166 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 167 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 168 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 169 this->st_positions = u_st_positions.real;
garyservin 0:9e9b7db60fd5 170 offset += sizeof(this->st_positions);
garyservin 0:9e9b7db60fd5 171 memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double));
garyservin 0:9e9b7db60fd5 172 }
garyservin 0:9e9b7db60fd5 173 uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 174 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 175 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 176 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 177 offset += sizeof(this->velocities_length);
garyservin 0:9e9b7db60fd5 178 if(velocities_lengthT > velocities_length)
garyservin 0:9e9b7db60fd5 179 this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 180 velocities_length = velocities_lengthT;
garyservin 0:9e9b7db60fd5 181 for( uint32_t i = 0; i < velocities_length; i++){
garyservin 0:9e9b7db60fd5 182 union {
garyservin 0:9e9b7db60fd5 183 double real;
garyservin 0:9e9b7db60fd5 184 uint64_t base;
garyservin 0:9e9b7db60fd5 185 } u_st_velocities;
garyservin 0:9e9b7db60fd5 186 u_st_velocities.base = 0;
garyservin 0:9e9b7db60fd5 187 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 188 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 189 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 190 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 191 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 192 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 193 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 194 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 195 this->st_velocities = u_st_velocities.real;
garyservin 0:9e9b7db60fd5 196 offset += sizeof(this->st_velocities);
garyservin 0:9e9b7db60fd5 197 memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
garyservin 0:9e9b7db60fd5 198 }
garyservin 0:9e9b7db60fd5 199 uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 200 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 201 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 202 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 203 offset += sizeof(this->accelerations_length);
garyservin 0:9e9b7db60fd5 204 if(accelerations_lengthT > accelerations_length)
garyservin 0:9e9b7db60fd5 205 this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 206 accelerations_length = accelerations_lengthT;
garyservin 0:9e9b7db60fd5 207 for( uint32_t i = 0; i < accelerations_length; i++){
garyservin 0:9e9b7db60fd5 208 union {
garyservin 0:9e9b7db60fd5 209 double real;
garyservin 0:9e9b7db60fd5 210 uint64_t base;
garyservin 0:9e9b7db60fd5 211 } u_st_accelerations;
garyservin 0:9e9b7db60fd5 212 u_st_accelerations.base = 0;
garyservin 0:9e9b7db60fd5 213 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 214 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 215 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 216 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 217 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 218 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 219 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 220 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 221 this->st_accelerations = u_st_accelerations.real;
garyservin 0:9e9b7db60fd5 222 offset += sizeof(this->st_accelerations);
garyservin 0:9e9b7db60fd5 223 memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double));
garyservin 0:9e9b7db60fd5 224 }
garyservin 0:9e9b7db60fd5 225 uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 226 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 227 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 228 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 229 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 230 if(effort_lengthT > effort_length)
garyservin 0:9e9b7db60fd5 231 this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 232 effort_length = effort_lengthT;
garyservin 0:9e9b7db60fd5 233 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 234 union {
garyservin 0:9e9b7db60fd5 235 double real;
garyservin 0:9e9b7db60fd5 236 uint64_t base;
garyservin 0:9e9b7db60fd5 237 } u_st_effort;
garyservin 0:9e9b7db60fd5 238 u_st_effort.base = 0;
garyservin 0:9e9b7db60fd5 239 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 240 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 241 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 242 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 243 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 244 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 245 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 246 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 247 this->st_effort = u_st_effort.real;
garyservin 0:9e9b7db60fd5 248 offset += sizeof(this->st_effort);
garyservin 0:9e9b7db60fd5 249 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
garyservin 0:9e9b7db60fd5 250 }
garyservin 0:9e9b7db60fd5 251 this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 252 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 253 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 254 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 255 offset += sizeof(this->time_from_start.sec);
garyservin 0:9e9b7db60fd5 256 this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 257 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 258 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 259 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 260 offset += sizeof(this->time_from_start.nsec);
garyservin 0:9e9b7db60fd5 261 return offset;
garyservin 0:9e9b7db60fd5 262 }
garyservin 0:9e9b7db60fd5 263
garyservin 0:9e9b7db60fd5 264 const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
garyservin 0:9e9b7db60fd5 265 const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
garyservin 0:9e9b7db60fd5 266
garyservin 0:9e9b7db60fd5 267 };
garyservin 0:9e9b7db60fd5 268
garyservin 0:9e9b7db60fd5 269 }
garyservin 0:9e9b7db60fd5 270 #endif