Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/JointTrajectoryControllerState.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_JointTrajectoryControllerState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_JointTrajectoryControllerState_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 #include "trajectory_msgs/JointTrajectoryPoint.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace control_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class JointTrajectoryControllerState : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 uint32_t joint_names_length;
garyservin 0:9e9b7db60fd5 20 typedef char* _joint_names_type;
garyservin 0:9e9b7db60fd5 21 _joint_names_type st_joint_names;
garyservin 0:9e9b7db60fd5 22 _joint_names_type * joint_names;
garyservin 0:9e9b7db60fd5 23 typedef trajectory_msgs::JointTrajectoryPoint _desired_type;
garyservin 0:9e9b7db60fd5 24 _desired_type desired;
garyservin 0:9e9b7db60fd5 25 typedef trajectory_msgs::JointTrajectoryPoint _actual_type;
garyservin 0:9e9b7db60fd5 26 _actual_type actual;
garyservin 0:9e9b7db60fd5 27 typedef trajectory_msgs::JointTrajectoryPoint _error_type;
garyservin 0:9e9b7db60fd5 28 _error_type error;
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 JointTrajectoryControllerState():
garyservin 0:9e9b7db60fd5 31 header(),
garyservin 0:9e9b7db60fd5 32 joint_names_length(0), joint_names(NULL),
garyservin 0:9e9b7db60fd5 33 desired(),
garyservin 0:9e9b7db60fd5 34 actual(),
garyservin 0:9e9b7db60fd5 35 error()
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->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 48 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 49 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
garyservin 0:9e9b7db60fd5 50 varToArr(outbuffer + offset, length_joint_namesi);
garyservin 0:9e9b7db60fd5 51 offset += 4;
garyservin 0:9e9b7db60fd5 52 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
garyservin 0:9e9b7db60fd5 53 offset += length_joint_namesi;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 offset += this->desired.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 56 offset += this->actual.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 57 offset += this->error.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 58 return offset;
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 int offset = 0;
garyservin 0:9e9b7db60fd5 64 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 65 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 66 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 67 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 68 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 70 if(joint_names_lengthT > joint_names_length)
garyservin 0:9e9b7db60fd5 71 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 72 joint_names_length = joint_names_lengthT;
garyservin 0:9e9b7db60fd5 73 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 74 uint32_t length_st_joint_names;
garyservin 0:9e9b7db60fd5 75 arrToVar(length_st_joint_names, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 76 offset += 4;
garyservin 0:9e9b7db60fd5 77 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
garyservin 0:9e9b7db60fd5 78 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80 inbuffer[offset+length_st_joint_names-1]=0;
garyservin 0:9e9b7db60fd5 81 this->st_joint_names = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 82 offset += length_st_joint_names;
garyservin 0:9e9b7db60fd5 83 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85 offset += this->desired.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 86 offset += this->actual.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 87 offset += this->error.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 88 return offset;
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; };
garyservin 0:9e9b7db60fd5 92 const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
garyservin 0:9e9b7db60fd5 93
garyservin 0:9e9b7db60fd5 94 };
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 }
garyservin 0:9e9b7db60fd5 97 #endif