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/PointHeadGoal.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_PointHeadGoal_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_PointHeadGoal_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 "geometry_msgs/PointStamped.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Vector3.h"
garyservin 0:9e9b7db60fd5 10 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace control_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class PointHeadGoal : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef geometry_msgs::PointStamped _target_type;
garyservin 0:9e9b7db60fd5 19 _target_type target;
garyservin 0:9e9b7db60fd5 20 typedef geometry_msgs::Vector3 _pointing_axis_type;
garyservin 0:9e9b7db60fd5 21 _pointing_axis_type pointing_axis;
garyservin 0:9e9b7db60fd5 22 typedef const char* _pointing_frame_type;
garyservin 0:9e9b7db60fd5 23 _pointing_frame_type pointing_frame;
garyservin 0:9e9b7db60fd5 24 typedef ros::Duration _min_duration_type;
garyservin 0:9e9b7db60fd5 25 _min_duration_type min_duration;
garyservin 0:9e9b7db60fd5 26 typedef double _max_velocity_type;
garyservin 0:9e9b7db60fd5 27 _max_velocity_type max_velocity;
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 PointHeadGoal():
garyservin 0:9e9b7db60fd5 30 target(),
garyservin 0:9e9b7db60fd5 31 pointing_axis(),
garyservin 0:9e9b7db60fd5 32 pointing_frame(""),
garyservin 0:9e9b7db60fd5 33 min_duration(),
garyservin 0:9e9b7db60fd5 34 max_velocity(0)
garyservin 0:9e9b7db60fd5 35 {
garyservin 0:9e9b7db60fd5 36 }
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 39 {
garyservin 0:9e9b7db60fd5 40 int offset = 0;
garyservin 0:9e9b7db60fd5 41 offset += this->target.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 42 offset += this->pointing_axis.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 uint32_t length_pointing_frame = strlen(this->pointing_frame);
garyservin 0:9e9b7db60fd5 44 varToArr(outbuffer + offset, length_pointing_frame);
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
garyservin 0:9e9b7db60fd5 47 offset += length_pointing_frame;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->min_duration.sec);
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 offset += sizeof(this->min_duration.nsec);
garyservin 0:9e9b7db60fd5 58 union {
garyservin 0:9e9b7db60fd5 59 double real;
garyservin 0:9e9b7db60fd5 60 uint64_t base;
garyservin 0:9e9b7db60fd5 61 } u_max_velocity;
garyservin 0:9e9b7db60fd5 62 u_max_velocity.real = this->max_velocity;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->max_velocity);
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 76 {
garyservin 0:9e9b7db60fd5 77 int offset = 0;
garyservin 0:9e9b7db60fd5 78 offset += this->target.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 79 offset += this->pointing_axis.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 80 uint32_t length_pointing_frame;
garyservin 0:9e9b7db60fd5 81 arrToVar(length_pointing_frame, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 82 offset += 4;
garyservin 0:9e9b7db60fd5 83 for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
garyservin 0:9e9b7db60fd5 84 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86 inbuffer[offset+length_pointing_frame-1]=0;
garyservin 0:9e9b7db60fd5 87 this->pointing_frame = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 88 offset += length_pointing_frame;
garyservin 0:9e9b7db60fd5 89 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 90 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 91 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 92 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 93 offset += sizeof(this->min_duration.sec);
garyservin 0:9e9b7db60fd5 94 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 95 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 96 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 97 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->min_duration.nsec);
garyservin 0:9e9b7db60fd5 99 union {
garyservin 0:9e9b7db60fd5 100 double real;
garyservin 0:9e9b7db60fd5 101 uint64_t base;
garyservin 0:9e9b7db60fd5 102 } u_max_velocity;
garyservin 0:9e9b7db60fd5 103 u_max_velocity.base = 0;
garyservin 0:9e9b7db60fd5 104 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 105 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 106 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 112 this->max_velocity = u_max_velocity.real;
garyservin 0:9e9b7db60fd5 113 offset += sizeof(this->max_velocity);
garyservin 0:9e9b7db60fd5 114 return offset;
garyservin 0:9e9b7db60fd5 115 }
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 const char * getType(){ return "control_msgs/PointHeadGoal"; };
garyservin 0:9e9b7db60fd5 118 const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
garyservin 0:9e9b7db60fd5 119
garyservin 0:9e9b7db60fd5 120 };
garyservin 0:9e9b7db60fd5 121
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123 #endif