MultiDOFJointTrajectoryPoint.h

00001 #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
00002 #define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "geometry_msgs/Transform.h"
00009 #include "geometry_msgs/Twist.h"
00010 #include "ros/duration.h"
00011 
00012 namespace trajectory_msgs
00013 {
00014 
00015   class MultiDOFJointTrajectoryPoint : public ros::Msg
00016   {
00017     public:
00018       uint32_t transforms_length;
00019       typedef geometry_msgs::Transform _transforms_type;
00020       _transforms_type st_transforms;
00021       _transforms_type * transforms;
00022       uint32_t velocities_length;
00023       typedef geometry_msgs::Twist _velocities_type;
00024       _velocities_type st_velocities;
00025       _velocities_type * velocities;
00026       uint32_t accelerations_length;
00027       typedef geometry_msgs::Twist _accelerations_type;
00028       _accelerations_type st_accelerations;
00029       _accelerations_type * accelerations;
00030       typedef ros::Duration _time_from_start_type;
00031       _time_from_start_type time_from_start;
00032 
00033     MultiDOFJointTrajectoryPoint():
00034       transforms_length(0), transforms(NULL),
00035       velocities_length(0), velocities(NULL),
00036       accelerations_length(0), accelerations(NULL),
00037       time_from_start()
00038     {
00039     }
00040 
00041     virtual int serialize(unsigned char *outbuffer) const
00042     {
00043       int offset = 0;
00044       *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
00045       *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
00046       *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
00047       *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
00048       offset += sizeof(this->transforms_length);
00049       for( uint32_t i = 0; i < transforms_length; i++){
00050       offset += this->transforms[i].serialize(outbuffer + offset);
00051       }
00052       *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
00053       *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
00054       *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
00055       *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
00056       offset += sizeof(this->velocities_length);
00057       for( uint32_t i = 0; i < velocities_length; i++){
00058       offset += this->velocities[i].serialize(outbuffer + offset);
00059       }
00060       *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF;
00061       *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF;
00062       *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF;
00063       *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF;
00064       offset += sizeof(this->accelerations_length);
00065       for( uint32_t i = 0; i < accelerations_length; i++){
00066       offset += this->accelerations[i].serialize(outbuffer + offset);
00067       }
00068       *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
00069       *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
00070       *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
00071       *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
00072       offset += sizeof(this->time_from_start.sec);
00073       *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
00074       *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
00075       *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
00076       *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
00077       offset += sizeof(this->time_from_start.nsec);
00078       return offset;
00079     }
00080 
00081     virtual int deserialize(unsigned char *inbuffer)
00082     {
00083       int offset = 0;
00084       uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00085       transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00086       transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00087       transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00088       offset += sizeof(this->transforms_length);
00089       if(transforms_lengthT > transforms_length)
00090         this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
00091       transforms_length = transforms_lengthT;
00092       for( uint32_t i = 0; i < transforms_length; i++){
00093       offset += this->st_transforms.deserialize(inbuffer + offset);
00094         memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
00095       }
00096       uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00097       velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00098       velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00099       velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00100       offset += sizeof(this->velocities_length);
00101       if(velocities_lengthT > velocities_length)
00102         this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist));
00103       velocities_length = velocities_lengthT;
00104       for( uint32_t i = 0; i < velocities_length; i++){
00105       offset += this->st_velocities.deserialize(inbuffer + offset);
00106         memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist));
00107       }
00108       uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00109       accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00110       accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00111       accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00112       offset += sizeof(this->accelerations_length);
00113       if(accelerations_lengthT > accelerations_length)
00114         this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist));
00115       accelerations_length = accelerations_lengthT;
00116       for( uint32_t i = 0; i < accelerations_length; i++){
00117       offset += this->st_accelerations.deserialize(inbuffer + offset);
00118         memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist));
00119       }
00120       this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
00121       this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00122       this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00123       this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00124       offset += sizeof(this->time_from_start.sec);
00125       this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
00126       this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00127       this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00128       this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00129       offset += sizeof(this->time_from_start.nsec);
00130      return offset;
00131     }
00132 
00133     const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; };
00134     const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; };
00135 
00136   };
00137 
00138 }
00139 #endif