Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

trajectory_msgs/MultiDOFJointTrajectoryPoint.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_MultiDOFJointTrajectoryPoint_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_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/Transform.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Twist.h"
garyservin 0:9e9b7db60fd5 10 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace trajectory_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class MultiDOFJointTrajectoryPoint : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 uint32_t transforms_length;
garyservin 0:9e9b7db60fd5 19 typedef geometry_msgs::Transform _transforms_type;
garyservin 0:9e9b7db60fd5 20 _transforms_type st_transforms;
garyservin 0:9e9b7db60fd5 21 _transforms_type * transforms;
garyservin 0:9e9b7db60fd5 22 uint32_t velocities_length;
garyservin 0:9e9b7db60fd5 23 typedef geometry_msgs::Twist _velocities_type;
garyservin 0:9e9b7db60fd5 24 _velocities_type st_velocities;
garyservin 0:9e9b7db60fd5 25 _velocities_type * velocities;
garyservin 0:9e9b7db60fd5 26 uint32_t accelerations_length;
garyservin 0:9e9b7db60fd5 27 typedef geometry_msgs::Twist _accelerations_type;
garyservin 0:9e9b7db60fd5 28 _accelerations_type st_accelerations;
garyservin 0:9e9b7db60fd5 29 _accelerations_type * accelerations;
garyservin 0:9e9b7db60fd5 30 typedef ros::Duration _time_from_start_type;
garyservin 0:9e9b7db60fd5 31 _time_from_start_type time_from_start;
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 MultiDOFJointTrajectoryPoint():
garyservin 0:9e9b7db60fd5 34 transforms_length(0), transforms(NULL),
garyservin 0:9e9b7db60fd5 35 velocities_length(0), velocities(NULL),
garyservin 0:9e9b7db60fd5 36 accelerations_length(0), accelerations(NULL),
garyservin 0:9e9b7db60fd5 37 time_from_start()
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 42 {
garyservin 0:9e9b7db60fd5 43 int offset = 0;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->transforms_length);
garyservin 0:9e9b7db60fd5 49 for( uint32_t i = 0; i < transforms_length; i++){
garyservin 0:9e9b7db60fd5 50 offset += this->transforms[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->velocities_length);
garyservin 0:9e9b7db60fd5 57 for( uint32_t i = 0; i < velocities_length; i++){
garyservin 0:9e9b7db60fd5 58 offset += this->velocities[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->accelerations_length);
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < accelerations_length; i++){
garyservin 0:9e9b7db60fd5 66 offset += this->accelerations[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 offset += sizeof(this->time_from_start.sec);
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->time_from_start.nsec);
garyservin 0:9e9b7db60fd5 78 return offset;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 82 {
garyservin 0:9e9b7db60fd5 83 int offset = 0;
garyservin 0:9e9b7db60fd5 84 uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 85 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 86 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 87 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->transforms_length);
garyservin 0:9e9b7db60fd5 89 if(transforms_lengthT > transforms_length)
garyservin 0:9e9b7db60fd5 90 this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
garyservin 0:9e9b7db60fd5 91 transforms_length = transforms_lengthT;
garyservin 0:9e9b7db60fd5 92 for( uint32_t i = 0; i < transforms_length; i++){
garyservin 0:9e9b7db60fd5 93 offset += this->st_transforms.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 94 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 97 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 98 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 99 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 100 offset += sizeof(this->velocities_length);
garyservin 0:9e9b7db60fd5 101 if(velocities_lengthT > velocities_length)
garyservin 0:9e9b7db60fd5 102 this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 103 velocities_length = velocities_lengthT;
garyservin 0:9e9b7db60fd5 104 for( uint32_t i = 0; i < velocities_length; i++){
garyservin 0:9e9b7db60fd5 105 offset += this->st_velocities.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 106 memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 107 }
garyservin 0:9e9b7db60fd5 108 uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 109 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 110 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 111 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 112 offset += sizeof(this->accelerations_length);
garyservin 0:9e9b7db60fd5 113 if(accelerations_lengthT > accelerations_length)
garyservin 0:9e9b7db60fd5 114 this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 115 accelerations_length = accelerations_lengthT;
garyservin 0:9e9b7db60fd5 116 for( uint32_t i = 0; i < accelerations_length; i++){
garyservin 0:9e9b7db60fd5 117 offset += this->st_accelerations.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 118 memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 119 }
garyservin 0:9e9b7db60fd5 120 this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 121 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 122 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 123 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 124 offset += sizeof(this->time_from_start.sec);
garyservin 0:9e9b7db60fd5 125 this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 126 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 127 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 128 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 129 offset += sizeof(this->time_from_start.nsec);
garyservin 0:9e9b7db60fd5 130 return offset;
garyservin 0:9e9b7db60fd5 131 }
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; };
garyservin 0:9e9b7db60fd5 134 const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; };
garyservin 0:9e9b7db60fd5 135
garyservin 0:9e9b7db60fd5 136 };
garyservin 0:9e9b7db60fd5 137
garyservin 0:9e9b7db60fd5 138 }
garyservin 0:9e9b7db60fd5 139 #endif