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
control_msgs/FollowJointTrajectoryGoal.h
- Committer:
- jacobepfl1692
- Date:
- 2017-10-17
- Revision:
- 2:9114cc24ddcf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:9114cc24ddcf:
#ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h #define _ROS_control_msgs_FollowJointTrajectoryGoal_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "trajectory_msgs/JointTrajectory.h" #include "control_msgs/JointTolerance.h" #include "ros/duration.h" namespace control_msgs { class FollowJointTrajectoryGoal : public ros::Msg { public: typedef trajectory_msgs::JointTrajectory _trajectory_type; _trajectory_type trajectory; uint32_t path_tolerance_length; typedef control_msgs::JointTolerance _path_tolerance_type; _path_tolerance_type st_path_tolerance; _path_tolerance_type * path_tolerance; uint32_t goal_tolerance_length; typedef control_msgs::JointTolerance _goal_tolerance_type; _goal_tolerance_type st_goal_tolerance; _goal_tolerance_type * goal_tolerance; typedef ros::Duration _goal_time_tolerance_type; _goal_time_tolerance_type goal_time_tolerance; FollowJointTrajectoryGoal(): trajectory(), path_tolerance_length(0), path_tolerance(NULL), goal_tolerance_length(0), goal_tolerance(NULL), goal_time_tolerance() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->trajectory.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->path_tolerance_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->path_tolerance_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->path_tolerance_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->path_tolerance_length >> (8 * 3)) & 0xFF; offset += sizeof(this->path_tolerance_length); for( uint32_t i = 0; i < path_tolerance_length; i++){ offset += this->path_tolerance[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->goal_tolerance_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->goal_tolerance_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->goal_tolerance_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->goal_tolerance_length >> (8 * 3)) & 0xFF; offset += sizeof(this->goal_tolerance_length); for( uint32_t i = 0; i < goal_tolerance_length; i++){ offset += this->goal_tolerance[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->goal_time_tolerance.sec); *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->goal_time_tolerance.nsec); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->trajectory.deserialize(inbuffer + offset); uint32_t path_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->path_tolerance_length); if(path_tolerance_lengthT > path_tolerance_length) this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); path_tolerance_length = path_tolerance_lengthT; for( uint32_t i = 0; i < path_tolerance_length; i++){ offset += this->st_path_tolerance.deserialize(inbuffer + offset); memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance)); } uint32_t goal_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->goal_tolerance_length); if(goal_tolerance_lengthT > goal_tolerance_length) this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); goal_tolerance_length = goal_tolerance_lengthT; for( uint32_t i = 0; i < goal_tolerance_length; i++){ offset += this->st_goal_tolerance.deserialize(inbuffer + offset); memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance)); } this->goal_time_tolerance.sec = ((uint32_t) (*(inbuffer + offset))); this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->goal_time_tolerance.sec); this->goal_time_tolerance.nsec = ((uint32_t) (*(inbuffer + offset))); this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->goal_time_tolerance.nsec); return offset; } const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; }; const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; }; }; } #endif