Increased buffer size
Fork of ros_lib_kinetic by
control_msgs/PointHeadGoal.h@2:2e7b61982dd2, 2018-11-02 (annotated)
- Committer:
- jvfausto
- Date:
- Fri Nov 02 21:52:23 2018 +0000
- Revision:
- 2:2e7b61982dd2
- Parent:
- 0:9e9b7db60fd5
Working towards recieving twists
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_control_msgs_PointHeadGoal_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_control_msgs_PointHeadGoal_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/PointStamped.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "geometry_msgs/Vector3.h" |
garyservin | 0:9e9b7db60fd5 | 10 | #include "ros/duration.h" |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | namespace control_msgs |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class PointHeadGoal : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | typedef geometry_msgs::PointStamped _target_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _target_type target; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef geometry_msgs::Vector3 _pointing_axis_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _pointing_axis_type pointing_axis; |
garyservin | 0:9e9b7db60fd5 | 22 | typedef const char* _pointing_frame_type; |
garyservin | 0:9e9b7db60fd5 | 23 | _pointing_frame_type pointing_frame; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef ros::Duration _min_duration_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _min_duration_type min_duration; |
garyservin | 0:9e9b7db60fd5 | 26 | typedef double _max_velocity_type; |
garyservin | 0:9e9b7db60fd5 | 27 | _max_velocity_type max_velocity; |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | PointHeadGoal(): |
garyservin | 0:9e9b7db60fd5 | 30 | target(), |
garyservin | 0:9e9b7db60fd5 | 31 | pointing_axis(), |
garyservin | 0:9e9b7db60fd5 | 32 | pointing_frame(""), |
garyservin | 0:9e9b7db60fd5 | 33 | min_duration(), |
garyservin | 0:9e9b7db60fd5 | 34 | max_velocity(0) |
garyservin | 0:9e9b7db60fd5 | 35 | { |
garyservin | 0:9e9b7db60fd5 | 36 | } |
garyservin | 0:9e9b7db60fd5 | 37 | |
garyservin | 0:9e9b7db60fd5 | 38 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 39 | { |
garyservin | 0:9e9b7db60fd5 | 40 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 41 | offset += this->target.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 42 | offset += this->pointing_axis.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 43 | uint32_t length_pointing_frame = strlen(this->pointing_frame); |
garyservin | 0:9e9b7db60fd5 | 44 | varToArr(outbuffer + offset, length_pointing_frame); |
garyservin | 0:9e9b7db60fd5 | 45 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 46 | memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame); |
garyservin | 0:9e9b7db60fd5 | 47 | offset += length_pointing_frame; |
garyservin | 0:9e9b7db60fd5 | 48 | *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 49 | *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 50 | *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 51 | *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 52 | offset += sizeof(this->min_duration.sec); |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 56 | *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 57 | offset += sizeof(this->min_duration.nsec); |
garyservin | 0:9e9b7db60fd5 | 58 | union { |
garyservin | 0:9e9b7db60fd5 | 59 | double real; |
garyservin | 0:9e9b7db60fd5 | 60 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 61 | } u_max_velocity; |
garyservin | 0:9e9b7db60fd5 | 62 | u_max_velocity.real = this->max_velocity; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 68 | *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 71 | offset += sizeof(this->max_velocity); |
garyservin | 0:9e9b7db60fd5 | 72 | return offset; |
garyservin | 0:9e9b7db60fd5 | 73 | } |
garyservin | 0:9e9b7db60fd5 | 74 | |
garyservin | 0:9e9b7db60fd5 | 75 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 76 | { |
garyservin | 0:9e9b7db60fd5 | 77 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 78 | offset += this->target.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 79 | offset += this->pointing_axis.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 80 | uint32_t length_pointing_frame; |
garyservin | 0:9e9b7db60fd5 | 81 | arrToVar(length_pointing_frame, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 82 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 83 | for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){ |
garyservin | 0:9e9b7db60fd5 | 84 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 85 | } |
garyservin | 0:9e9b7db60fd5 | 86 | inbuffer[offset+length_pointing_frame-1]=0; |
garyservin | 0:9e9b7db60fd5 | 87 | this->pointing_frame = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 88 | offset += length_pointing_frame; |
garyservin | 0:9e9b7db60fd5 | 89 | this->min_duration.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 90 | this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 91 | this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 92 | this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 93 | offset += sizeof(this->min_duration.sec); |
garyservin | 0:9e9b7db60fd5 | 94 | this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 95 | this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 96 | this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 97 | this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 98 | offset += sizeof(this->min_duration.nsec); |
garyservin | 0:9e9b7db60fd5 | 99 | union { |
garyservin | 0:9e9b7db60fd5 | 100 | double real; |
garyservin | 0:9e9b7db60fd5 | 101 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 102 | } u_max_velocity; |
garyservin | 0:9e9b7db60fd5 | 103 | u_max_velocity.base = 0; |
garyservin | 0:9e9b7db60fd5 | 104 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 105 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 106 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 107 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 108 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 109 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 110 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 111 | u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 112 | this->max_velocity = u_max_velocity.real; |
garyservin | 0:9e9b7db60fd5 | 113 | offset += sizeof(this->max_velocity); |
garyservin | 0:9e9b7db60fd5 | 114 | return offset; |
garyservin | 0:9e9b7db60fd5 | 115 | } |
garyservin | 0:9e9b7db60fd5 | 116 | |
garyservin | 0:9e9b7db60fd5 | 117 | const char * getType(){ return "control_msgs/PointHeadGoal"; }; |
garyservin | 0:9e9b7db60fd5 | 118 | const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; }; |
garyservin | 0:9e9b7db60fd5 | 119 | |
garyservin | 0:9e9b7db60fd5 | 120 | }; |
garyservin | 0:9e9b7db60fd5 | 121 | |
garyservin | 0:9e9b7db60fd5 | 122 | } |
garyservin | 0:9e9b7db60fd5 | 123 | #endif |