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
Fork of ros_lib_kinetic by
trajectory_msgs/JointTrajectory.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_trajectory_msgs_JointTrajectory_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_trajectory_msgs_JointTrajectory_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 | #include "trajectory_msgs/JointTrajectoryPoint.h" |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | namespace trajectory_msgs |
garyservin | 0:9e9b7db60fd5 | 12 | { |
garyservin | 0:9e9b7db60fd5 | 13 | |
garyservin | 0:9e9b7db60fd5 | 14 | class JointTrajectory : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 15 | { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 19 | uint32_t joint_names_length; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef char* _joint_names_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _joint_names_type st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 22 | _joint_names_type * joint_names; |
garyservin | 0:9e9b7db60fd5 | 23 | uint32_t points_length; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef trajectory_msgs::JointTrajectoryPoint _points_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _points_type st_points; |
garyservin | 0:9e9b7db60fd5 | 26 | _points_type * points; |
garyservin | 0:9e9b7db60fd5 | 27 | |
garyservin | 0:9e9b7db60fd5 | 28 | JointTrajectory(): |
garyservin | 0:9e9b7db60fd5 | 29 | header(), |
garyservin | 0:9e9b7db60fd5 | 30 | joint_names_length(0), joint_names(NULL), |
garyservin | 0:9e9b7db60fd5 | 31 | points_length(0), points(NULL) |
garyservin | 0:9e9b7db60fd5 | 32 | { |
garyservin | 0:9e9b7db60fd5 | 33 | } |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 36 | { |
garyservin | 0:9e9b7db60fd5 | 37 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 38 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 39 | *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | offset += sizeof(this->joint_names_length); |
garyservin | 0:9e9b7db60fd5 | 44 | for( uint32_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 45 | uint32_t length_joint_namesi = strlen(this->joint_names[i]); |
garyservin | 0:9e9b7db60fd5 | 46 | varToArr(outbuffer + offset, length_joint_namesi); |
garyservin | 0:9e9b7db60fd5 | 47 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 48 | memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); |
garyservin | 0:9e9b7db60fd5 | 49 | offset += length_joint_namesi; |
garyservin | 0:9e9b7db60fd5 | 50 | } |
garyservin | 0:9e9b7db60fd5 | 51 | *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 52 | *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | offset += sizeof(this->points_length); |
garyservin | 0:9e9b7db60fd5 | 56 | for( uint32_t i = 0; i < points_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 57 | offset += this->points[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 58 | } |
garyservin | 0:9e9b7db60fd5 | 59 | return offset; |
garyservin | 0:9e9b7db60fd5 | 60 | } |
garyservin | 0:9e9b7db60fd5 | 61 | |
garyservin | 0:9e9b7db60fd5 | 62 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 63 | { |
garyservin | 0:9e9b7db60fd5 | 64 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 65 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 66 | uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 67 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 68 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 69 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 70 | offset += sizeof(this->joint_names_length); |
garyservin | 0:9e9b7db60fd5 | 71 | if(joint_names_lengthT > joint_names_length) |
garyservin | 0:9e9b7db60fd5 | 72 | this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 73 | joint_names_length = joint_names_lengthT; |
garyservin | 0:9e9b7db60fd5 | 74 | for( uint32_t i = 0; i < joint_names_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 75 | uint32_t length_st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 76 | arrToVar(length_st_joint_names, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 77 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 78 | for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ |
garyservin | 0:9e9b7db60fd5 | 79 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 80 | } |
garyservin | 0:9e9b7db60fd5 | 81 | inbuffer[offset+length_st_joint_names-1]=0; |
garyservin | 0:9e9b7db60fd5 | 82 | this->st_joint_names = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 83 | offset += length_st_joint_names; |
garyservin | 0:9e9b7db60fd5 | 84 | memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); |
garyservin | 0:9e9b7db60fd5 | 85 | } |
garyservin | 0:9e9b7db60fd5 | 86 | uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 87 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 88 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 89 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 90 | offset += sizeof(this->points_length); |
garyservin | 0:9e9b7db60fd5 | 91 | if(points_lengthT > points_length) |
garyservin | 0:9e9b7db60fd5 | 92 | this->points = (trajectory_msgs::JointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::JointTrajectoryPoint)); |
garyservin | 0:9e9b7db60fd5 | 93 | points_length = points_lengthT; |
garyservin | 0:9e9b7db60fd5 | 94 | for( uint32_t i = 0; i < points_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 95 | offset += this->st_points.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 96 | memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::JointTrajectoryPoint)); |
garyservin | 0:9e9b7db60fd5 | 97 | } |
garyservin | 0:9e9b7db60fd5 | 98 | return offset; |
garyservin | 0:9e9b7db60fd5 | 99 | } |
garyservin | 0:9e9b7db60fd5 | 100 | |
garyservin | 0:9e9b7db60fd5 | 101 | const char * getType(){ return "trajectory_msgs/JointTrajectory"; }; |
garyservin | 0:9e9b7db60fd5 | 102 | const char * getMD5(){ return "65b4f94a94d1ed67169da35a02f33d3f"; }; |
garyservin | 0:9e9b7db60fd5 | 103 | |
garyservin | 0:9e9b7db60fd5 | 104 | }; |
garyservin | 0:9e9b7db60fd5 | 105 | |
garyservin | 0:9e9b7db60fd5 | 106 | } |
garyservin | 0:9e9b7db60fd5 | 107 | #endif |