Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

trajectory_msgs/JointTrajectoryPoint.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_trajectory_msgs_JointTrajectoryPoint_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_trajectory_msgs_JointTrajectoryPoint_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 "ros/duration.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace trajectory_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class JointTrajectoryPoint : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 uint32_t positions_length;
garyservin 0:9e9b7db60fd5 17 typedef double _positions_type;
garyservin 0:9e9b7db60fd5 18 _positions_type st_positions;
garyservin 0:9e9b7db60fd5 19 _positions_type * positions;
garyservin 0:9e9b7db60fd5 20 uint32_t velocities_length;
garyservin 0:9e9b7db60fd5 21 typedef double _velocities_type;
garyservin 0:9e9b7db60fd5 22 _velocities_type st_velocities;
garyservin 0:9e9b7db60fd5 23 _velocities_type * velocities;
garyservin 0:9e9b7db60fd5 24 uint32_t accelerations_length;
garyservin 0:9e9b7db60fd5 25 typedef double _accelerations_type;
garyservin 0:9e9b7db60fd5 26 _accelerations_type st_accelerations;
garyservin 0:9e9b7db60fd5 27 _accelerations_type * accelerations;
garyservin 0:9e9b7db60fd5 28 uint32_t effort_length;
garyservin 0:9e9b7db60fd5 29 typedef double _effort_type;
garyservin 0:9e9b7db60fd5 30 _effort_type st_effort;
garyservin 0:9e9b7db60fd5 31 _effort_type * effort;
garyservin 0:9e9b7db60fd5 32 typedef ros::Duration _time_from_start_type;
garyservin 0:9e9b7db60fd5 33 _time_from_start_type time_from_start;
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 JointTrajectoryPoint():
garyservin 0:9e9b7db60fd5 36 positions_length(0), positions(NULL),
garyservin 0:9e9b7db60fd5 37 velocities_length(0), velocities(NULL),
garyservin 0:9e9b7db60fd5 38 accelerations_length(0), accelerations(NULL),
garyservin 0:9e9b7db60fd5 39 effort_length(0), effort(NULL),
garyservin 0:9e9b7db60fd5 40 time_from_start()
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 *(outbuffer + offset + 0) = (this->positions_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (this->positions_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 2) = (this->positions_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 3) = (this->positions_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->positions_length);
garyservin 0:9e9b7db60fd5 52 for( uint32_t i = 0; i < positions_length; i++){
garyservin 0:9e9b7db60fd5 53 union {
garyservin 0:9e9b7db60fd5 54 double real;
garyservin 0:9e9b7db60fd5 55 uint64_t base;
garyservin 0:9e9b7db60fd5 56 } u_positionsi;
garyservin 0:9e9b7db60fd5 57 u_positionsi.real = this->positions[i];
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->positions[i]);
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->velocities_length);
garyservin 0:9e9b7db60fd5 73 for( uint32_t i = 0; i < velocities_length; i++){
garyservin 0:9e9b7db60fd5 74 union {
garyservin 0:9e9b7db60fd5 75 double real;
garyservin 0:9e9b7db60fd5 76 uint64_t base;
garyservin 0:9e9b7db60fd5 77 } u_velocitiesi;
garyservin 0:9e9b7db60fd5 78 u_velocitiesi.real = this->velocities[i];
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->velocities[i]);
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 offset += sizeof(this->accelerations_length);
garyservin 0:9e9b7db60fd5 94 for( uint32_t i = 0; i < accelerations_length; i++){
garyservin 0:9e9b7db60fd5 95 union {
garyservin 0:9e9b7db60fd5 96 double real;
garyservin 0:9e9b7db60fd5 97 uint64_t base;
garyservin 0:9e9b7db60fd5 98 } u_accelerationsi;
garyservin 0:9e9b7db60fd5 99 u_accelerationsi.real = this->accelerations[i];
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 offset += sizeof(this->accelerations[i]);
garyservin 0:9e9b7db60fd5 109 }
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 112 *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 115 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 116 union {
garyservin 0:9e9b7db60fd5 117 double real;
garyservin 0:9e9b7db60fd5 118 uint64_t base;
garyservin 0:9e9b7db60fd5 119 } u_efforti;
garyservin 0:9e9b7db60fd5 120 u_efforti.real = this->effort[i];
garyservin 0:9e9b7db60fd5 121 *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 122 *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 123 *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 124 *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 129 offset += sizeof(this->effort[i]);
garyservin 0:9e9b7db60fd5 130 }
garyservin 0:9e9b7db60fd5 131 *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 132 *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 133 *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 134 *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 135 offset += sizeof(this->time_from_start.sec);
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 140 offset += sizeof(this->time_from_start.nsec);
garyservin 0:9e9b7db60fd5 141 return offset;
garyservin 0:9e9b7db60fd5 142 }
garyservin 0:9e9b7db60fd5 143
garyservin 0:9e9b7db60fd5 144 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 145 {
garyservin 0:9e9b7db60fd5 146 int offset = 0;
garyservin 0:9e9b7db60fd5 147 uint32_t positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 148 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 149 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 150 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 151 offset += sizeof(this->positions_length);
garyservin 0:9e9b7db60fd5 152 if(positions_lengthT > positions_length)
garyservin 0:9e9b7db60fd5 153 this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 154 positions_length = positions_lengthT;
garyservin 0:9e9b7db60fd5 155 for( uint32_t i = 0; i < positions_length; i++){
garyservin 0:9e9b7db60fd5 156 union {
garyservin 0:9e9b7db60fd5 157 double real;
garyservin 0:9e9b7db60fd5 158 uint64_t base;
garyservin 0:9e9b7db60fd5 159 } u_st_positions;
garyservin 0:9e9b7db60fd5 160 u_st_positions.base = 0;
garyservin 0:9e9b7db60fd5 161 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 162 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 163 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 164 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 165 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 166 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 167 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 168 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 169 this->st_positions = u_st_positions.real;
garyservin 0:9e9b7db60fd5 170 offset += sizeof(this->st_positions);
garyservin 0:9e9b7db60fd5 171 memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double));
garyservin 0:9e9b7db60fd5 172 }
garyservin 0:9e9b7db60fd5 173 uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 174 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 175 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 176 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 177 offset += sizeof(this->velocities_length);
garyservin 0:9e9b7db60fd5 178 if(velocities_lengthT > velocities_length)
garyservin 0:9e9b7db60fd5 179 this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 180 velocities_length = velocities_lengthT;
garyservin 0:9e9b7db60fd5 181 for( uint32_t i = 0; i < velocities_length; i++){
garyservin 0:9e9b7db60fd5 182 union {
garyservin 0:9e9b7db60fd5 183 double real;
garyservin 0:9e9b7db60fd5 184 uint64_t base;
garyservin 0:9e9b7db60fd5 185 } u_st_velocities;
garyservin 0:9e9b7db60fd5 186 u_st_velocities.base = 0;
garyservin 0:9e9b7db60fd5 187 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 188 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 189 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 190 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 191 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 192 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 193 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 194 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 195 this->st_velocities = u_st_velocities.real;
garyservin 0:9e9b7db60fd5 196 offset += sizeof(this->st_velocities);
garyservin 0:9e9b7db60fd5 197 memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
garyservin 0:9e9b7db60fd5 198 }
garyservin 0:9e9b7db60fd5 199 uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 200 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 201 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 202 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 203 offset += sizeof(this->accelerations_length);
garyservin 0:9e9b7db60fd5 204 if(accelerations_lengthT > accelerations_length)
garyservin 0:9e9b7db60fd5 205 this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 206 accelerations_length = accelerations_lengthT;
garyservin 0:9e9b7db60fd5 207 for( uint32_t i = 0; i < accelerations_length; i++){
garyservin 0:9e9b7db60fd5 208 union {
garyservin 0:9e9b7db60fd5 209 double real;
garyservin 0:9e9b7db60fd5 210 uint64_t base;
garyservin 0:9e9b7db60fd5 211 } u_st_accelerations;
garyservin 0:9e9b7db60fd5 212 u_st_accelerations.base = 0;
garyservin 0:9e9b7db60fd5 213 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 214 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 215 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 216 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 217 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 218 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 219 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 220 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 221 this->st_accelerations = u_st_accelerations.real;
garyservin 0:9e9b7db60fd5 222 offset += sizeof(this->st_accelerations);
garyservin 0:9e9b7db60fd5 223 memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double));
garyservin 0:9e9b7db60fd5 224 }
garyservin 0:9e9b7db60fd5 225 uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 226 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 227 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 228 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 229 offset += sizeof(this->effort_length);
garyservin 0:9e9b7db60fd5 230 if(effort_lengthT > effort_length)
garyservin 0:9e9b7db60fd5 231 this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 232 effort_length = effort_lengthT;
garyservin 0:9e9b7db60fd5 233 for( uint32_t i = 0; i < effort_length; i++){
garyservin 0:9e9b7db60fd5 234 union {
garyservin 0:9e9b7db60fd5 235 double real;
garyservin 0:9e9b7db60fd5 236 uint64_t base;
garyservin 0:9e9b7db60fd5 237 } u_st_effort;
garyservin 0:9e9b7db60fd5 238 u_st_effort.base = 0;
garyservin 0:9e9b7db60fd5 239 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 240 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 241 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 242 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 243 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 244 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 245 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 246 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 247 this->st_effort = u_st_effort.real;
garyservin 0:9e9b7db60fd5 248 offset += sizeof(this->st_effort);
garyservin 0:9e9b7db60fd5 249 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
garyservin 0:9e9b7db60fd5 250 }
garyservin 0:9e9b7db60fd5 251 this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 252 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 253 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 254 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 255 offset += sizeof(this->time_from_start.sec);
garyservin 0:9e9b7db60fd5 256 this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 257 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 258 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 259 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 260 offset += sizeof(this->time_from_start.nsec);
garyservin 0:9e9b7db60fd5 261 return offset;
garyservin 0:9e9b7db60fd5 262 }
garyservin 0:9e9b7db60fd5 263
garyservin 0:9e9b7db60fd5 264 const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
garyservin 0:9e9b7db60fd5 265 const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
garyservin 0:9e9b7db60fd5 266
garyservin 0:9e9b7db60fd5 267 };
garyservin 0:9e9b7db60fd5 268
garyservin 0:9e9b7db60fd5 269 }
garyservin 0:9e9b7db60fd5 270 #endif