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

gazebo_msgs/SetJointTrajectory.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_SERVICE_SetJointTrajectory_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SetJointTrajectory_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7 #include "trajectory_msgs/JointTrajectory.h"
garyservin 0:9e9b7db60fd5 8 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 static const char SETJOINTTRAJECTORY[] = "gazebo_msgs/SetJointTrajectory";
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class SetJointTrajectoryRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef const char* _model_name_type;
garyservin 0:9e9b7db60fd5 19 _model_name_type model_name;
garyservin 0:9e9b7db60fd5 20 typedef trajectory_msgs::JointTrajectory _joint_trajectory_type;
garyservin 0:9e9b7db60fd5 21 _joint_trajectory_type joint_trajectory;
garyservin 0:9e9b7db60fd5 22 typedef geometry_msgs::Pose _model_pose_type;
garyservin 0:9e9b7db60fd5 23 _model_pose_type model_pose;
garyservin 0:9e9b7db60fd5 24 typedef bool _set_model_pose_type;
garyservin 0:9e9b7db60fd5 25 _set_model_pose_type set_model_pose;
garyservin 0:9e9b7db60fd5 26 typedef bool _disable_physics_updates_type;
garyservin 0:9e9b7db60fd5 27 _disable_physics_updates_type disable_physics_updates;
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 SetJointTrajectoryRequest():
garyservin 0:9e9b7db60fd5 30 model_name(""),
garyservin 0:9e9b7db60fd5 31 joint_trajectory(),
garyservin 0:9e9b7db60fd5 32 model_pose(),
garyservin 0:9e9b7db60fd5 33 set_model_pose(0),
garyservin 0:9e9b7db60fd5 34 disable_physics_updates(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 uint32_t length_model_name = strlen(this->model_name);
garyservin 0:9e9b7db60fd5 42 varToArr(outbuffer + offset, length_model_name);
garyservin 0:9e9b7db60fd5 43 offset += 4;
garyservin 0:9e9b7db60fd5 44 memcpy(outbuffer + offset, this->model_name, length_model_name);
garyservin 0:9e9b7db60fd5 45 offset += length_model_name;
garyservin 0:9e9b7db60fd5 46 offset += this->joint_trajectory.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 47 offset += this->model_pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 48 union {
garyservin 0:9e9b7db60fd5 49 bool real;
garyservin 0:9e9b7db60fd5 50 uint8_t base;
garyservin 0:9e9b7db60fd5 51 } u_set_model_pose;
garyservin 0:9e9b7db60fd5 52 u_set_model_pose.real = this->set_model_pose;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (u_set_model_pose.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 offset += sizeof(this->set_model_pose);
garyservin 0:9e9b7db60fd5 55 union {
garyservin 0:9e9b7db60fd5 56 bool real;
garyservin 0:9e9b7db60fd5 57 uint8_t base;
garyservin 0:9e9b7db60fd5 58 } u_disable_physics_updates;
garyservin 0:9e9b7db60fd5 59 u_disable_physics_updates.real = this->disable_physics_updates;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (u_disable_physics_updates.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->disable_physics_updates);
garyservin 0:9e9b7db60fd5 62 return offset;
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64
garyservin 0:9e9b7db60fd5 65 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 66 {
garyservin 0:9e9b7db60fd5 67 int offset = 0;
garyservin 0:9e9b7db60fd5 68 uint32_t length_model_name;
garyservin 0:9e9b7db60fd5 69 arrToVar(length_model_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 70 offset += 4;
garyservin 0:9e9b7db60fd5 71 for(unsigned int k= offset; k< offset+length_model_name; ++k){
garyservin 0:9e9b7db60fd5 72 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74 inbuffer[offset+length_model_name-1]=0;
garyservin 0:9e9b7db60fd5 75 this->model_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 76 offset += length_model_name;
garyservin 0:9e9b7db60fd5 77 offset += this->joint_trajectory.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 78 offset += this->model_pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 79 union {
garyservin 0:9e9b7db60fd5 80 bool real;
garyservin 0:9e9b7db60fd5 81 uint8_t base;
garyservin 0:9e9b7db60fd5 82 } u_set_model_pose;
garyservin 0:9e9b7db60fd5 83 u_set_model_pose.base = 0;
garyservin 0:9e9b7db60fd5 84 u_set_model_pose.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 85 this->set_model_pose = u_set_model_pose.real;
garyservin 0:9e9b7db60fd5 86 offset += sizeof(this->set_model_pose);
garyservin 0:9e9b7db60fd5 87 union {
garyservin 0:9e9b7db60fd5 88 bool real;
garyservin 0:9e9b7db60fd5 89 uint8_t base;
garyservin 0:9e9b7db60fd5 90 } u_disable_physics_updates;
garyservin 0:9e9b7db60fd5 91 u_disable_physics_updates.base = 0;
garyservin 0:9e9b7db60fd5 92 u_disable_physics_updates.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 93 this->disable_physics_updates = u_disable_physics_updates.real;
garyservin 0:9e9b7db60fd5 94 offset += sizeof(this->disable_physics_updates);
garyservin 0:9e9b7db60fd5 95 return offset;
garyservin 0:9e9b7db60fd5 96 }
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 const char * getType(){ return SETJOINTTRAJECTORY; };
garyservin 0:9e9b7db60fd5 99 const char * getMD5(){ return "649dd2eba5ffd358069238825f9f85ab"; };
garyservin 0:9e9b7db60fd5 100
garyservin 0:9e9b7db60fd5 101 };
garyservin 0:9e9b7db60fd5 102
garyservin 0:9e9b7db60fd5 103 class SetJointTrajectoryResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 104 {
garyservin 0:9e9b7db60fd5 105 public:
garyservin 0:9e9b7db60fd5 106 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 107 _success_type success;
garyservin 0:9e9b7db60fd5 108 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 109 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 110
garyservin 0:9e9b7db60fd5 111 SetJointTrajectoryResponse():
garyservin 0:9e9b7db60fd5 112 success(0),
garyservin 0:9e9b7db60fd5 113 status_message("")
garyservin 0:9e9b7db60fd5 114 {
garyservin 0:9e9b7db60fd5 115 }
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 118 {
garyservin 0:9e9b7db60fd5 119 int offset = 0;
garyservin 0:9e9b7db60fd5 120 union {
garyservin 0:9e9b7db60fd5 121 bool real;
garyservin 0:9e9b7db60fd5 122 uint8_t base;
garyservin 0:9e9b7db60fd5 123 } u_success;
garyservin 0:9e9b7db60fd5 124 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 127 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 128 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 129 offset += 4;
garyservin 0:9e9b7db60fd5 130 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 131 offset += length_status_message;
garyservin 0:9e9b7db60fd5 132 return offset;
garyservin 0:9e9b7db60fd5 133 }
garyservin 0:9e9b7db60fd5 134
garyservin 0:9e9b7db60fd5 135 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 136 {
garyservin 0:9e9b7db60fd5 137 int offset = 0;
garyservin 0:9e9b7db60fd5 138 union {
garyservin 0:9e9b7db60fd5 139 bool real;
garyservin 0:9e9b7db60fd5 140 uint8_t base;
garyservin 0:9e9b7db60fd5 141 } u_success;
garyservin 0:9e9b7db60fd5 142 u_success.base = 0;
garyservin 0:9e9b7db60fd5 143 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 144 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 145 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 146 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 147 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 148 offset += 4;
garyservin 0:9e9b7db60fd5 149 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 150 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 151 }
garyservin 0:9e9b7db60fd5 152 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 153 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 154 offset += length_status_message;
garyservin 0:9e9b7db60fd5 155 return offset;
garyservin 0:9e9b7db60fd5 156 }
garyservin 0:9e9b7db60fd5 157
garyservin 0:9e9b7db60fd5 158 const char * getType(){ return SETJOINTTRAJECTORY; };
garyservin 0:9e9b7db60fd5 159 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 160
garyservin 0:9e9b7db60fd5 161 };
garyservin 0:9e9b7db60fd5 162
garyservin 0:9e9b7db60fd5 163 class SetJointTrajectory {
garyservin 0:9e9b7db60fd5 164 public:
garyservin 0:9e9b7db60fd5 165 typedef SetJointTrajectoryRequest Request;
garyservin 0:9e9b7db60fd5 166 typedef SetJointTrajectoryResponse Response;
garyservin 0:9e9b7db60fd5 167 };
garyservin 0:9e9b7db60fd5 168
garyservin 0:9e9b7db60fd5 169 }
garyservin 0:9e9b7db60fd5 170 #endif