Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/JointTolerance.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_JointTolerance_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_JointTolerance_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
garyservin 0:9e9b7db60fd5 9 namespace control_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class JointTolerance : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 typedef double _position_type;
garyservin 0:9e9b7db60fd5 18 _position_type position;
garyservin 0:9e9b7db60fd5 19 typedef double _velocity_type;
garyservin 0:9e9b7db60fd5 20 _velocity_type velocity;
garyservin 0:9e9b7db60fd5 21 typedef double _acceleration_type;
garyservin 0:9e9b7db60fd5 22 _acceleration_type acceleration;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 JointTolerance():
garyservin 0:9e9b7db60fd5 25 name(""),
garyservin 0:9e9b7db60fd5 26 position(0),
garyservin 0:9e9b7db60fd5 27 velocity(0),
garyservin 0:9e9b7db60fd5 28 acceleration(0)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 36 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 37 offset += 4;
garyservin 0:9e9b7db60fd5 38 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 39 offset += length_name;
garyservin 0:9e9b7db60fd5 40 union {
garyservin 0:9e9b7db60fd5 41 double real;
garyservin 0:9e9b7db60fd5 42 uint64_t base;
garyservin 0:9e9b7db60fd5 43 } u_position;
garyservin 0:9e9b7db60fd5 44 u_position.real = this->position;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 54 union {
garyservin 0:9e9b7db60fd5 55 double real;
garyservin 0:9e9b7db60fd5 56 uint64_t base;
garyservin 0:9e9b7db60fd5 57 } u_velocity;
garyservin 0:9e9b7db60fd5 58 u_velocity.real = this->velocity;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->velocity);
garyservin 0:9e9b7db60fd5 68 union {
garyservin 0:9e9b7db60fd5 69 double real;
garyservin 0:9e9b7db60fd5 70 uint64_t base;
garyservin 0:9e9b7db60fd5 71 } u_acceleration;
garyservin 0:9e9b7db60fd5 72 u_acceleration.real = this->acceleration;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->acceleration);
garyservin 0:9e9b7db60fd5 82 return offset;
garyservin 0:9e9b7db60fd5 83 }
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 86 {
garyservin 0:9e9b7db60fd5 87 int offset = 0;
garyservin 0:9e9b7db60fd5 88 uint32_t length_name;
garyservin 0:9e9b7db60fd5 89 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 90 offset += 4;
garyservin 0:9e9b7db60fd5 91 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 92 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 93 }
garyservin 0:9e9b7db60fd5 94 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 95 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 96 offset += length_name;
garyservin 0:9e9b7db60fd5 97 union {
garyservin 0:9e9b7db60fd5 98 double real;
garyservin 0:9e9b7db60fd5 99 uint64_t base;
garyservin 0:9e9b7db60fd5 100 } u_position;
garyservin 0:9e9b7db60fd5 101 u_position.base = 0;
garyservin 0:9e9b7db60fd5 102 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 103 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 104 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 105 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 106 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 107 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 108 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 109 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 110 this->position = u_position.real;
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 112 union {
garyservin 0:9e9b7db60fd5 113 double real;
garyservin 0:9e9b7db60fd5 114 uint64_t base;
garyservin 0:9e9b7db60fd5 115 } u_velocity;
garyservin 0:9e9b7db60fd5 116 u_velocity.base = 0;
garyservin 0:9e9b7db60fd5 117 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 118 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 119 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 120 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 121 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 122 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 123 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 124 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 125 this->velocity = u_velocity.real;
garyservin 0:9e9b7db60fd5 126 offset += sizeof(this->velocity);
garyservin 0:9e9b7db60fd5 127 union {
garyservin 0:9e9b7db60fd5 128 double real;
garyservin 0:9e9b7db60fd5 129 uint64_t base;
garyservin 0:9e9b7db60fd5 130 } u_acceleration;
garyservin 0:9e9b7db60fd5 131 u_acceleration.base = 0;
garyservin 0:9e9b7db60fd5 132 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 133 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 134 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 135 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 136 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 137 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 138 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 139 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 140 this->acceleration = u_acceleration.real;
garyservin 0:9e9b7db60fd5 141 offset += sizeof(this->acceleration);
garyservin 0:9e9b7db60fd5 142 return offset;
garyservin 0:9e9b7db60fd5 143 }
garyservin 0:9e9b7db60fd5 144
garyservin 0:9e9b7db60fd5 145 const char * getType(){ return "control_msgs/JointTolerance"; };
garyservin 0:9e9b7db60fd5 146 const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
garyservin 0:9e9b7db60fd5 147
garyservin 0:9e9b7db60fd5 148 };
garyservin 0:9e9b7db60fd5 149
garyservin 0:9e9b7db60fd5 150 }
garyservin 0:9e9b7db60fd5 151 #endif