Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/PointHeadGoal.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_PointHeadGoal_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_PointHeadGoal_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 "geometry_msgs/PointStamped.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Vector3.h"
garyservin 0:9e9b7db60fd5 10 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace control_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class PointHeadGoal : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef geometry_msgs::PointStamped _target_type;
garyservin 0:9e9b7db60fd5 19 _target_type target;
garyservin 0:9e9b7db60fd5 20 typedef geometry_msgs::Vector3 _pointing_axis_type;
garyservin 0:9e9b7db60fd5 21 _pointing_axis_type pointing_axis;
garyservin 0:9e9b7db60fd5 22 typedef const char* _pointing_frame_type;
garyservin 0:9e9b7db60fd5 23 _pointing_frame_type pointing_frame;
garyservin 0:9e9b7db60fd5 24 typedef ros::Duration _min_duration_type;
garyservin 0:9e9b7db60fd5 25 _min_duration_type min_duration;
garyservin 0:9e9b7db60fd5 26 typedef double _max_velocity_type;
garyservin 0:9e9b7db60fd5 27 _max_velocity_type max_velocity;
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 PointHeadGoal():
garyservin 0:9e9b7db60fd5 30 target(),
garyservin 0:9e9b7db60fd5 31 pointing_axis(),
garyservin 0:9e9b7db60fd5 32 pointing_frame(""),
garyservin 0:9e9b7db60fd5 33 min_duration(),
garyservin 0:9e9b7db60fd5 34 max_velocity(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 offset += this->target.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 42 offset += this->pointing_axis.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 uint32_t length_pointing_frame = strlen(this->pointing_frame);
garyservin 0:9e9b7db60fd5 44 varToArr(outbuffer + offset, length_pointing_frame);
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
garyservin 0:9e9b7db60fd5 47 offset += length_pointing_frame;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->min_duration.sec);
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 offset += sizeof(this->min_duration.nsec);
garyservin 0:9e9b7db60fd5 58 union {
garyservin 0:9e9b7db60fd5 59 double real;
garyservin 0:9e9b7db60fd5 60 uint64_t base;
garyservin 0:9e9b7db60fd5 61 } u_max_velocity;
garyservin 0:9e9b7db60fd5 62 u_max_velocity.real = this->max_velocity;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->max_velocity);
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 76 {
garyservin 0:9e9b7db60fd5 77 int offset = 0;
garyservin 0:9e9b7db60fd5 78 offset += this->target.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 79 offset += this->pointing_axis.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 80 uint32_t length_pointing_frame;
garyservin 0:9e9b7db60fd5 81 arrToVar(length_pointing_frame, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 82 offset += 4;
garyservin 0:9e9b7db60fd5 83 for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
garyservin 0:9e9b7db60fd5 84 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86 inbuffer[offset+length_pointing_frame-1]=0;
garyservin 0:9e9b7db60fd5 87 this->pointing_frame = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 88 offset += length_pointing_frame;
garyservin 0:9e9b7db60fd5 89 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 90 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 91 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 92 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 93 offset += sizeof(this->min_duration.sec);
garyservin 0:9e9b7db60fd5 94 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 95 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 96 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 97 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->min_duration.nsec);
garyservin 0:9e9b7db60fd5 99 union {
garyservin 0:9e9b7db60fd5 100 double real;
garyservin 0:9e9b7db60fd5 101 uint64_t base;
garyservin 0:9e9b7db60fd5 102 } u_max_velocity;
garyservin 0:9e9b7db60fd5 103 u_max_velocity.base = 0;
garyservin 0:9e9b7db60fd5 104 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 105 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 106 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 112 this->max_velocity = u_max_velocity.real;
garyservin 0:9e9b7db60fd5 113 offset += sizeof(this->max_velocity);
garyservin 0:9e9b7db60fd5 114 return offset;
garyservin 0:9e9b7db60fd5 115 }
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 const char * getType(){ return "control_msgs/PointHeadGoal"; };
garyservin 0:9e9b7db60fd5 118 const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
garyservin 0:9e9b7db60fd5 119
garyservin 0:9e9b7db60fd5 120 };
garyservin 0:9e9b7db60fd5 121
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123 #endif