Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/JointState.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_sensor_msgs_JointState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_JointState_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
garyservin 0:9e9b7db60fd5 10 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class JointState : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 uint32_t name_length;
garyservin 0:9e9b7db60fd5 19 typedef char* _name_type;
garyservin 0:9e9b7db60fd5 20 _name_type st_name;
garyservin 0:9e9b7db60fd5 21 _name_type * name;
garyservin 0:9e9b7db60fd5 22 uint32_t position_length;
garyservin 0:9e9b7db60fd5 23 typedef double _position_type;
garyservin 0:9e9b7db60fd5 24 _position_type st_position;
garyservin 0:9e9b7db60fd5 25 _position_type * position;
garyservin 0:9e9b7db60fd5 26 uint32_t velocity_length;
garyservin 0:9e9b7db60fd5 27 typedef double _velocity_type;
garyservin 0:9e9b7db60fd5 28 _velocity_type st_velocity;
garyservin 0:9e9b7db60fd5 29 _velocity_type * velocity;
garyservin 0:9e9b7db60fd5 30 uint32_t effort_length;
garyservin 0:9e9b7db60fd5 31 typedef double _effort_type;
garyservin 0:9e9b7db60fd5 32 _effort_type st_effort;
garyservin 0:9e9b7db60fd5 33 _effort_type * effort;
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 JointState():
garyservin 0:9e9b7db60fd5 36 header(),
garyservin 0:9e9b7db60fd5 37 name_length(0), name(NULL),
garyservin 0:9e9b7db60fd5 38 position_length(0), position(NULL),
garyservin 0:9e9b7db60fd5 39 velocity_length(0), velocity(NULL),
garyservin 0:9e9b7db60fd5 40 effort_length(0), effort(NULL)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 int offset = 0;
garyservin 0:9e9b7db60fd5 47 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 53 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 54 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:9e9b7db60fd5 55 varToArr(outbuffer + offset, length_namei);
garyservin 0:9e9b7db60fd5 56 offset += 4;
garyservin 0:9e9b7db60fd5 57 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:9e9b7db60fd5 58 offset += length_namei;
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 66 union {
garyservin 0:9e9b7db60fd5 67 double real;
garyservin 0:9e9b7db60fd5 68 uint64_t base;
garyservin 0:9e9b7db60fd5 69 } u_positioni;
garyservin 0:9e9b7db60fd5 70 u_positioni.real = this->position[i];
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->position[i]);
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 0) = (this->velocity_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 1) = (this->velocity_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 2) = (this->velocity_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 3) = (this->velocity_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->velocity_length);
garyservin 0:9e9b7db60fd5 86 for( uint32_t i = 0; i < velocity_length; i++){
garyservin 0:9e9b7db60fd5 87 union {
garyservin 0:9e9b7db60fd5 88 double real;
garyservin 0:9e9b7db60fd5 89 uint64_t base;
garyservin 0:9e9b7db60fd5 90 } u_velocityi;
garyservin 0:9e9b7db60fd5 91 u_velocityi.real = this->velocity[i];
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 offset += sizeof(this->velocity[i]);
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102 *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 107 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 108 union {
garyservin 0:9e9b7db60fd5 109 double real;
garyservin 0:9e9b7db60fd5 110 uint64_t base;
garyservin 0:9e9b7db60fd5 111 } u_efforti;
garyservin 0:9e9b7db60fd5 112 u_efforti.real = this->effort[i];
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 119 *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 120 *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 121 offset += sizeof(this->effort[i]);
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123 return offset;
garyservin 0:9e9b7db60fd5 124 }
garyservin 0:9e9b7db60fd5 125
garyservin 0:9e9b7db60fd5 126 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 127 {
garyservin 0:9e9b7db60fd5 128 int offset = 0;
garyservin 0:9e9b7db60fd5 129 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 130 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 131 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 132 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 133 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 134 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 135 if(name_lengthT > name_length)
garyservin 0:9e9b7db60fd5 136 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 137 name_length = name_lengthT;
garyservin 0:9e9b7db60fd5 138 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 139 uint32_t length_st_name;
garyservin 0:9e9b7db60fd5 140 arrToVar(length_st_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 141 offset += 4;
garyservin 0:9e9b7db60fd5 142 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:9e9b7db60fd5 143 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 144 }
garyservin 0:9e9b7db60fd5 145 inbuffer[offset+length_st_name-1]=0;
garyservin 0:9e9b7db60fd5 146 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 147 offset += length_st_name;
garyservin 0:9e9b7db60fd5 148 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:9e9b7db60fd5 149 }
garyservin 0:9e9b7db60fd5 150 uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 151 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 152 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 153 position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 154 offset += sizeof(this->position_length);
garyservin 0:9e9b7db60fd5 155 if(position_lengthT > position_length)
garyservin 0:9e9b7db60fd5 156 this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 157 position_length = position_lengthT;
garyservin 0:9e9b7db60fd5 158 for( uint32_t i = 0; i < position_length; i++){
garyservin 0:9e9b7db60fd5 159 union {
garyservin 0:9e9b7db60fd5 160 double real;
garyservin 0:9e9b7db60fd5 161 uint64_t base;
garyservin 0:9e9b7db60fd5 162 } u_st_position;
garyservin 0:9e9b7db60fd5 163 u_st_position.base = 0;
garyservin 0:9e9b7db60fd5 164 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 165 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 166 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 167 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 168 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 169 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 170 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 171 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 172 this->st_position = u_st_position.real;
garyservin 0:9e9b7db60fd5 173 offset += sizeof(this->st_position);
garyservin 0:9e9b7db60fd5 174 memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
garyservin 0:9e9b7db60fd5 175 }
garyservin 0:9e9b7db60fd5 176 uint32_t velocity_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 177 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 178 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 179 velocity_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 180 offset += sizeof(this->velocity_length);
garyservin 0:9e9b7db60fd5 181 if(velocity_lengthT > velocity_length)
garyservin 0:9e9b7db60fd5 182 this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 183 velocity_length = velocity_lengthT;
garyservin 0:9e9b7db60fd5 184 for( uint32_t i = 0; i < velocity_length; i++){
garyservin 0:9e9b7db60fd5 185 union {
garyservin 0:9e9b7db60fd5 186 double real;
garyservin 0:9e9b7db60fd5 187 uint64_t base;
garyservin 0:9e9b7db60fd5 188 } u_st_velocity;
garyservin 0:9e9b7db60fd5 189 u_st_velocity.base = 0;
garyservin 0:9e9b7db60fd5 190 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 191 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 192 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 193 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 194 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 195 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 196 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 197 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 198 this->st_velocity = u_st_velocity.real;
garyservin 0:9e9b7db60fd5 199 offset += sizeof(this->st_velocity);
garyservin 0:9e9b7db60fd5 200 memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
garyservin 0:9e9b7db60fd5 201 }
garyservin 0:9e9b7db60fd5 202 uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 203 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 204 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 205 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 206 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 207 if(effort_lengthT > effort_length)
garyservin 0:9e9b7db60fd5 208 this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 209 effort_length = effort_lengthT;
garyservin 0:9e9b7db60fd5 210 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 211 union {
garyservin 0:9e9b7db60fd5 212 double real;
garyservin 0:9e9b7db60fd5 213 uint64_t base;
garyservin 0:9e9b7db60fd5 214 } u_st_effort;
garyservin 0:9e9b7db60fd5 215 u_st_effort.base = 0;
garyservin 0:9e9b7db60fd5 216 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 217 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 218 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 219 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 220 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 221 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 222 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 223 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 224 this->st_effort = u_st_effort.real;
garyservin 0:9e9b7db60fd5 225 offset += sizeof(this->st_effort);
garyservin 0:9e9b7db60fd5 226 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
garyservin 0:9e9b7db60fd5 227 }
garyservin 0:9e9b7db60fd5 228 return offset;
garyservin 0:9e9b7db60fd5 229 }
garyservin 0:9e9b7db60fd5 230
garyservin 0:9e9b7db60fd5 231 const char * getType(){ return "sensor_msgs/JointState"; };
garyservin 0:9e9b7db60fd5 232 const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
garyservin 0:9e9b7db60fd5 233
garyservin 0:9e9b7db60fd5 234 };
garyservin 0:9e9b7db60fd5 235
garyservin 0:9e9b7db60fd5 236 }
garyservin 0:9e9b7db60fd5 237 #endif