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JointTrajectoryPoint.h
00001 #ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h 00002 #define _ROS_trajectory_msgs_JointTrajectoryPoint_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "ros/duration.h" 00009 00010 namespace trajectory_msgs 00011 { 00012 00013 class JointTrajectoryPoint : public ros::Msg 00014 { 00015 public: 00016 uint32_t positions_length; 00017 typedef double _positions_type; 00018 _positions_type st_positions; 00019 _positions_type * positions; 00020 uint32_t velocities_length; 00021 typedef double _velocities_type; 00022 _velocities_type st_velocities; 00023 _velocities_type * velocities; 00024 uint32_t accelerations_length; 00025 typedef double _accelerations_type; 00026 _accelerations_type st_accelerations; 00027 _accelerations_type * accelerations; 00028 uint32_t effort_length; 00029 typedef double _effort_type; 00030 _effort_type st_effort; 00031 _effort_type * effort; 00032 typedef ros::Duration _time_from_start_type; 00033 _time_from_start_type time_from_start; 00034 00035 JointTrajectoryPoint(): 00036 positions_length(0), positions(NULL), 00037 velocities_length(0), velocities(NULL), 00038 accelerations_length(0), accelerations(NULL), 00039 effort_length(0), effort(NULL), 00040 time_from_start() 00041 { 00042 } 00043 00044 virtual int serialize(unsigned char *outbuffer) const 00045 { 00046 int offset = 0; 00047 *(outbuffer + offset + 0) = (this->positions_length >> (8 * 0)) & 0xFF; 00048 *(outbuffer + offset + 1) = (this->positions_length >> (8 * 1)) & 0xFF; 00049 *(outbuffer + offset + 2) = (this->positions_length >> (8 * 2)) & 0xFF; 00050 *(outbuffer + offset + 3) = (this->positions_length >> (8 * 3)) & 0xFF; 00051 offset += sizeof(this->positions_length); 00052 for( uint32_t i = 0; i < positions_length; i++){ 00053 union { 00054 double real; 00055 uint64_t base; 00056 } u_positionsi; 00057 u_positionsi.real = this->positions[i]; 00058 *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF; 00059 *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF; 00060 *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF; 00061 *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF; 00062 *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF; 00063 *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF; 00064 *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF; 00065 *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF; 00066 offset += sizeof(this->positions[i]); 00067 } 00068 *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF; 00069 *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF; 00070 *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF; 00071 *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF; 00072 offset += sizeof(this->velocities_length); 00073 for( uint32_t i = 0; i < velocities_length; i++){ 00074 union { 00075 double real; 00076 uint64_t base; 00077 } u_velocitiesi; 00078 u_velocitiesi.real = this->velocities[i]; 00079 *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF; 00080 *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF; 00081 *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF; 00082 *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF; 00083 *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF; 00084 *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF; 00085 *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF; 00086 *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF; 00087 offset += sizeof(this->velocities[i]); 00088 } 00089 *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF; 00090 *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF; 00091 *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF; 00092 *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF; 00093 offset += sizeof(this->accelerations_length); 00094 for( uint32_t i = 0; i < accelerations_length; i++){ 00095 union { 00096 double real; 00097 uint64_t base; 00098 } u_accelerationsi; 00099 u_accelerationsi.real = this->accelerations[i]; 00100 *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF; 00101 *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF; 00102 *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF; 00103 *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF; 00104 *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF; 00105 *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF; 00106 *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF; 00107 *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF; 00108 offset += sizeof(this->accelerations[i]); 00109 } 00110 *(outbuffer + offset + 0) = (this->effort_length >> (8 * 0)) & 0xFF; 00111 *(outbuffer + offset + 1) = (this->effort_length >> (8 * 1)) & 0xFF; 00112 *(outbuffer + offset + 2) = (this->effort_length >> (8 * 2)) & 0xFF; 00113 *(outbuffer + offset + 3) = (this->effort_length >> (8 * 3)) & 0xFF; 00114 offset += sizeof(this->effort_length); 00115 for( uint32_t i = 0; i < effort_length; i++){ 00116 union { 00117 double real; 00118 uint64_t base; 00119 } u_efforti; 00120 u_efforti.real = this->effort[i]; 00121 *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF; 00122 *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF; 00123 *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF; 00124 *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF; 00125 *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF; 00126 *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF; 00127 *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF; 00128 *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF; 00129 offset += sizeof(this->effort[i]); 00130 } 00131 *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF; 00132 *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF; 00133 *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF; 00134 *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF; 00135 offset += sizeof(this->time_from_start.sec); 00136 *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF; 00137 *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF; 00138 *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF; 00139 *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF; 00140 offset += sizeof(this->time_from_start.nsec); 00141 return offset; 00142 } 00143 00144 virtual int deserialize(unsigned char *inbuffer) 00145 { 00146 int offset = 0; 00147 uint32_t positions_lengthT = ((uint32_t) (*(inbuffer + offset))); 00148 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00149 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00150 positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00151 offset += sizeof(this->positions_length); 00152 if(positions_lengthT > positions_length) 00153 this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double)); 00154 positions_length = positions_lengthT; 00155 for( uint32_t i = 0; i < positions_length; i++){ 00156 union { 00157 double real; 00158 uint64_t base; 00159 } u_st_positions; 00160 u_st_positions.base = 0; 00161 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00162 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00163 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00164 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00165 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00166 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00167 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00168 u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00169 this->st_positions = u_st_positions.real; 00170 offset += sizeof(this->st_positions); 00171 memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double)); 00172 } 00173 uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); 00174 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00175 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00176 velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00177 offset += sizeof(this->velocities_length); 00178 if(velocities_lengthT > velocities_length) 00179 this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double)); 00180 velocities_length = velocities_lengthT; 00181 for( uint32_t i = 0; i < velocities_length; i++){ 00182 union { 00183 double real; 00184 uint64_t base; 00185 } u_st_velocities; 00186 u_st_velocities.base = 0; 00187 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00188 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00189 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00190 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00191 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00192 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00193 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00194 u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00195 this->st_velocities = u_st_velocities.real; 00196 offset += sizeof(this->st_velocities); 00197 memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double)); 00198 } 00199 uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); 00200 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00201 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00202 accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00203 offset += sizeof(this->accelerations_length); 00204 if(accelerations_lengthT > accelerations_length) 00205 this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double)); 00206 accelerations_length = accelerations_lengthT; 00207 for( uint32_t i = 0; i < accelerations_length; i++){ 00208 union { 00209 double real; 00210 uint64_t base; 00211 } u_st_accelerations; 00212 u_st_accelerations.base = 0; 00213 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00214 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00215 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00216 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00217 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00218 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00219 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00220 u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00221 this->st_accelerations = u_st_accelerations.real; 00222 offset += sizeof(this->st_accelerations); 00223 memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double)); 00224 } 00225 uint32_t effort_lengthT = ((uint32_t) (*(inbuffer + offset))); 00226 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00227 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00228 effort_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00229 offset += sizeof(this->effort_length); 00230 if(effort_lengthT > effort_length) 00231 this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double)); 00232 effort_length = effort_lengthT; 00233 for( uint32_t i = 0; i < effort_length; i++){ 00234 union { 00235 double real; 00236 uint64_t base; 00237 } u_st_effort; 00238 u_st_effort.base = 0; 00239 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00240 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00241 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00242 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00243 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00244 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00245 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00246 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00247 this->st_effort = u_st_effort.real; 00248 offset += sizeof(this->st_effort); 00249 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double)); 00250 } 00251 this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset))); 00252 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00253 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00254 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00255 offset += sizeof(this->time_from_start.sec); 00256 this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset))); 00257 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00258 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00259 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00260 offset += sizeof(this->time_from_start.nsec); 00261 return offset; 00262 } 00263 00264 const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; }; 00265 const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; }; 00266 00267 }; 00268 00269 } 00270 #endif
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