JointTolerance.h

00001 #ifndef _ROS_control_msgs_JointTolerance_h
00002 #define _ROS_control_msgs_JointTolerance_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace control_msgs
00010 {
00011 
00012   class JointTolerance : public ros::Msg
00013   {
00014     public:
00015       typedef const char* _name_type;
00016       _name_type name;
00017       typedef double _position_type;
00018       _position_type position;
00019       typedef double _velocity_type;
00020       _velocity_type velocity;
00021       typedef double _acceleration_type;
00022       _acceleration_type acceleration;
00023 
00024     JointTolerance():
00025       name(""),
00026       position(0),
00027       velocity(0),
00028       acceleration(0)
00029     {
00030     }
00031 
00032     virtual int serialize(unsigned char *outbuffer) const
00033     {
00034       int offset = 0;
00035       uint32_t length_name = strlen(this->name);
00036       varToArr(outbuffer + offset, length_name);
00037       offset += 4;
00038       memcpy(outbuffer + offset, this->name, length_name);
00039       offset += length_name;
00040       union {
00041         double real;
00042         uint64_t base;
00043       } u_position;
00044       u_position.real = this->position;
00045       *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
00046       *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
00047       *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
00048       *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
00049       *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
00050       *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
00051       *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
00052       *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
00053       offset += sizeof(this->position);
00054       union {
00055         double real;
00056         uint64_t base;
00057       } u_velocity;
00058       u_velocity.real = this->velocity;
00059       *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
00060       *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
00061       *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
00062       *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
00063       *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
00064       *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
00065       *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
00066       *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
00067       offset += sizeof(this->velocity);
00068       union {
00069         double real;
00070         uint64_t base;
00071       } u_acceleration;
00072       u_acceleration.real = this->acceleration;
00073       *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
00074       *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
00075       *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
00076       *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
00077       *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
00078       *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
00079       *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
00080       *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
00081       offset += sizeof(this->acceleration);
00082       return offset;
00083     }
00084 
00085     virtual int deserialize(unsigned char *inbuffer)
00086     {
00087       int offset = 0;
00088       uint32_t length_name;
00089       arrToVar(length_name, (inbuffer + offset));
00090       offset += 4;
00091       for(unsigned int k= offset; k< offset+length_name; ++k){
00092           inbuffer[k-1]=inbuffer[k];
00093       }
00094       inbuffer[offset+length_name-1]=0;
00095       this->name = (char *)(inbuffer + offset-1);
00096       offset += length_name;
00097       union {
00098         double real;
00099         uint64_t base;
00100       } u_position;
00101       u_position.base = 0;
00102       u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00103       u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00104       u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00105       u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00106       u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00107       u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00108       u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00109       u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00110       this->position = u_position.real;
00111       offset += sizeof(this->position);
00112       union {
00113         double real;
00114         uint64_t base;
00115       } u_velocity;
00116       u_velocity.base = 0;
00117       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00118       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00119       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00120       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00121       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00122       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00123       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00124       u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00125       this->velocity = u_velocity.real;
00126       offset += sizeof(this->velocity);
00127       union {
00128         double real;
00129         uint64_t base;
00130       } u_acceleration;
00131       u_acceleration.base = 0;
00132       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00133       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00134       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00135       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00136       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00137       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00138       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00139       u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00140       this->acceleration = u_acceleration.real;
00141       offset += sizeof(this->acceleration);
00142      return offset;
00143     }
00144 
00145     const char * getType(){ return "control_msgs/JointTolerance"; };
00146     const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
00147 
00148   };
00149 
00150 }
00151 #endif