Jacob Hernandez
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 
Gary Servin
Diff: control_msgs/JointControllerState.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointControllerState.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,382 @@
+#ifndef _ROS_control_msgs_JointControllerState_h
+#define _ROS_control_msgs_JointControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace control_msgs
+{
+
+ class JointControllerState : public ros::Msg
+ {
+ public:
+ typedef std_msgs::Header _header_type;
+ _header_type header;
+ typedef double _set_point_type;
+ _set_point_type set_point;
+ typedef double _process_value_type;
+ _process_value_type process_value;
+ typedef double _process_value_dot_type;
+ _process_value_dot_type process_value_dot;
+ typedef double _error_type;
+ _error_type error;
+ typedef double _time_step_type;
+ _time_step_type time_step;
+ typedef double _command_type;
+ _command_type command;
+ typedef double _p_type;
+ _p_type p;
+ typedef double _i_type;
+ _i_type i;
+ typedef double _d_type;
+ _d_type d;
+ typedef double _i_clamp_type;
+ _i_clamp_type i_clamp;
+ typedef bool _antiwindup_type;
+ _antiwindup_type antiwindup;
+
+ JointControllerState():
+ header(),
+ set_point(0),
+ process_value(0),
+ process_value_dot(0),
+ error(0),
+ time_step(0),
+ command(0),
+ p(0),
+ i(0),
+ d(0),
+ i_clamp(0),
+ antiwindup(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ offset += this->header.serialize(outbuffer + offset);
+ union {
+ double real;
+ uint64_t base;
+ } u_set_point;
+ u_set_point.real = this->set_point;
+ *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->set_point);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value;
+ u_process_value.real = this->process_value;
+ *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->process_value);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value_dot;
+ u_process_value_dot.real = this->process_value_dot;
+ *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->process_value_dot);
+ union {
+ double real;
+ uint64_t base;
+ } u_error;
+ u_error.real = this->error;
+ *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->error);
+ union {
+ double real;
+ uint64_t base;
+ } u_time_step;
+ u_time_step.real = this->time_step;
+ *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->time_step);
+ union {
+ double real;
+ uint64_t base;
+ } u_command;
+ u_command.real = this->command;
+ *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->command);
+ union {
+ double real;
+ uint64_t base;
+ } u_p;
+ u_p.real = this->p;
+ *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->p);
+ union {
+ double real;
+ uint64_t base;
+ } u_i;
+ u_i.real = this->i;
+ *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i);
+ union {
+ double real;
+ uint64_t base;
+ } u_d;
+ u_d.real = this->d;
+ *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->d);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_clamp;
+ u_i_clamp.real = this->i_clamp;
+ *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i_clamp);
+ union {
+ bool real;
+ uint8_t base;
+ } u_antiwindup;
+ u_antiwindup.real = this->antiwindup;
+ *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->antiwindup);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->header.deserialize(inbuffer + offset);
+ union {
+ double real;
+ uint64_t base;
+ } u_set_point;
+ u_set_point.base = 0;
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->set_point = u_set_point.real;
+ offset += sizeof(this->set_point);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value;
+ u_process_value.base = 0;
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->process_value = u_process_value.real;
+ offset += sizeof(this->process_value);
+ union {
+ double real;
+ uint64_t base;
+ } u_process_value_dot;
+ u_process_value_dot.base = 0;
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->process_value_dot = u_process_value_dot.real;
+ offset += sizeof(this->process_value_dot);
+ union {
+ double real;
+ uint64_t base;
+ } u_error;
+ u_error.base = 0;
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->error = u_error.real;
+ offset += sizeof(this->error);
+ union {
+ double real;
+ uint64_t base;
+ } u_time_step;
+ u_time_step.base = 0;
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->time_step = u_time_step.real;
+ offset += sizeof(this->time_step);
+ union {
+ double real;
+ uint64_t base;
+ } u_command;
+ u_command.base = 0;
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->command = u_command.real;
+ offset += sizeof(this->command);
+ union {
+ double real;
+ uint64_t base;
+ } u_p;
+ u_p.base = 0;
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->p = u_p.real;
+ offset += sizeof(this->p);
+ union {
+ double real;
+ uint64_t base;
+ } u_i;
+ u_i.base = 0;
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i = u_i.real;
+ offset += sizeof(this->i);
+ union {
+ double real;
+ uint64_t base;
+ } u_d;
+ u_d.base = 0;
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->d = u_d.real;
+ offset += sizeof(this->d);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_clamp;
+ u_i_clamp.base = 0;
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i_clamp = u_i_clamp.real;
+ offset += sizeof(this->i_clamp);
+ union {
+ bool real;
+ uint8_t base;
+ } u_antiwindup;
+ u_antiwindup.base = 0;
+ u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->antiwindup = u_antiwindup.real;
+ offset += sizeof(this->antiwindup);
+ return offset;
+ }
+
+ const char * getType(){ return "control_msgs/JointControllerState"; };
+ const char * getMD5(){ return "987ad85e4756f3aef7f1e5e7fe0595d1"; };
+
+ };
+
+}
+#endif
\ No newline at end of file