Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/FollowJointTrajectoryGoal.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_FollowJointTrajectoryGoal_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 "trajectory_msgs/JointTrajectory.h"
garyservin 0:9e9b7db60fd5 9 #include "control_msgs/JointTolerance.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 FollowJointTrajectoryGoal : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef trajectory_msgs::JointTrajectory _trajectory_type;
garyservin 0:9e9b7db60fd5 19 _trajectory_type trajectory;
garyservin 0:9e9b7db60fd5 20 uint32_t path_tolerance_length;
garyservin 0:9e9b7db60fd5 21 typedef control_msgs::JointTolerance _path_tolerance_type;
garyservin 0:9e9b7db60fd5 22 _path_tolerance_type st_path_tolerance;
garyservin 0:9e9b7db60fd5 23 _path_tolerance_type * path_tolerance;
garyservin 0:9e9b7db60fd5 24 uint32_t goal_tolerance_length;
garyservin 0:9e9b7db60fd5 25 typedef control_msgs::JointTolerance _goal_tolerance_type;
garyservin 0:9e9b7db60fd5 26 _goal_tolerance_type st_goal_tolerance;
garyservin 0:9e9b7db60fd5 27 _goal_tolerance_type * goal_tolerance;
garyservin 0:9e9b7db60fd5 28 typedef ros::Duration _goal_time_tolerance_type;
garyservin 0:9e9b7db60fd5 29 _goal_time_tolerance_type goal_time_tolerance;
garyservin 0:9e9b7db60fd5 30
garyservin 0:9e9b7db60fd5 31 FollowJointTrajectoryGoal():
garyservin 0:9e9b7db60fd5 32 trajectory(),
garyservin 0:9e9b7db60fd5 33 path_tolerance_length(0), path_tolerance(NULL),
garyservin 0:9e9b7db60fd5 34 goal_tolerance_length(0), goal_tolerance(NULL),
garyservin 0:9e9b7db60fd5 35 goal_time_tolerance()
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 }
garyservin 0:9e9b7db60fd5 38
garyservin 0:9e9b7db60fd5 39 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 int offset = 0;
garyservin 0:9e9b7db60fd5 42 offset += this->trajectory.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (this->path_tolerance_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (this->path_tolerance_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (this->path_tolerance_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (this->path_tolerance_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->path_tolerance_length);
garyservin 0:9e9b7db60fd5 48 for( uint32_t i = 0; i < path_tolerance_length; i++){
garyservin 0:9e9b7db60fd5 49 offset += this->path_tolerance[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 0) = (this->goal_tolerance_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 1) = (this->goal_tolerance_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 2) = (this->goal_tolerance_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 3) = (this->goal_tolerance_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->goal_tolerance_length);
garyservin 0:9e9b7db60fd5 56 for( uint32_t i = 0; i < goal_tolerance_length; i++){
garyservin 0:9e9b7db60fd5 57 offset += this->goal_tolerance[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 offset += sizeof(this->goal_time_tolerance.sec);
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 offset += sizeof(this->goal_time_tolerance.nsec);
garyservin 0:9e9b7db60fd5 69 return offset;
garyservin 0:9e9b7db60fd5 70 }
garyservin 0:9e9b7db60fd5 71
garyservin 0:9e9b7db60fd5 72 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 73 {
garyservin 0:9e9b7db60fd5 74 int offset = 0;
garyservin 0:9e9b7db60fd5 75 offset += this->trajectory.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 76 uint32_t path_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 77 path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 78 path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 79 path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 80 offset += sizeof(this->path_tolerance_length);
garyservin 0:9e9b7db60fd5 81 if(path_tolerance_lengthT > path_tolerance_length)
garyservin 0:9e9b7db60fd5 82 this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
garyservin 0:9e9b7db60fd5 83 path_tolerance_length = path_tolerance_lengthT;
garyservin 0:9e9b7db60fd5 84 for( uint32_t i = 0; i < path_tolerance_length; i++){
garyservin 0:9e9b7db60fd5 85 offset += this->st_path_tolerance.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 86 memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance));
garyservin 0:9e9b7db60fd5 87 }
garyservin 0:9e9b7db60fd5 88 uint32_t goal_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 89 goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 90 goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 91 goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->goal_tolerance_length);
garyservin 0:9e9b7db60fd5 93 if(goal_tolerance_lengthT > goal_tolerance_length)
garyservin 0:9e9b7db60fd5 94 this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
garyservin 0:9e9b7db60fd5 95 goal_tolerance_length = goal_tolerance_lengthT;
garyservin 0:9e9b7db60fd5 96 for( uint32_t i = 0; i < goal_tolerance_length; i++){
garyservin 0:9e9b7db60fd5 97 offset += this->st_goal_tolerance.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 98 memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance));
garyservin 0:9e9b7db60fd5 99 }
garyservin 0:9e9b7db60fd5 100 this->goal_time_tolerance.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 101 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 102 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 103 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 104 offset += sizeof(this->goal_time_tolerance.sec);
garyservin 0:9e9b7db60fd5 105 this->goal_time_tolerance.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 106 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 107 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 108 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 109 offset += sizeof(this->goal_time_tolerance.nsec);
garyservin 0:9e9b7db60fd5 110 return offset;
garyservin 0:9e9b7db60fd5 111 }
garyservin 0:9e9b7db60fd5 112
garyservin 0:9e9b7db60fd5 113 const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; };
garyservin 0:9e9b7db60fd5 114 const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; };
garyservin 0:9e9b7db60fd5 115
garyservin 0:9e9b7db60fd5 116 };
garyservin 0:9e9b7db60fd5 117
garyservin 0:9e9b7db60fd5 118 }
garyservin 0:9e9b7db60fd5 119 #endif