Diff: sensor_msgs/JointState.h

Revision:

0:77afd7560544

Child:

3:1cf99502f396

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/JointState.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,193 @@
+#ifndef ros_JointState_h
+#define ros_JointState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class JointState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      unsigned char name_length;
+      char* st_name;
+      char* * name;
+      unsigned char position_length;
+      float st_position;
+      float * position;
+      unsigned char velocity_length;
+      float st_velocity;
+      float * velocity;
+      unsigned char effort_length;
+      float st_effort;
+      float * effort;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < name_length; i++){
+      long * length_namei = (long *)(outbuffer + offset);
+      *length_namei = strlen( (const char*) this->name[i]);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], *length_namei);
+      offset += *length_namei;
+      }
+      *(outbuffer + offset++) = position_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < position_length; i++){
+      long * val_positioni = (long *) &(this->position[i]);
+      long exp_positioni = (((*val_positioni)>>23)&255);
+      if(exp_positioni != 0)
+        exp_positioni += 1023-127;
+      long sig_positioni = *val_positioni;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_positioni<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_positioni>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_positioni>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_positioni<<4) & 0xF0) | ((sig_positioni>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_positioni>>4) & 0x7F;
+      if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      *(outbuffer + offset++) = velocity_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < velocity_length; i++){
+      long * val_velocityi = (long *) &(this->velocity[i]);
+      long exp_velocityi = (((*val_velocityi)>>23)&255);
+      if(exp_velocityi != 0)
+        exp_velocityi += 1023-127;
+      long sig_velocityi = *val_velocityi;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_velocityi<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_velocityi>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_velocityi>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_velocityi<<4) & 0xF0) | ((sig_velocityi>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_velocityi>>4) & 0x7F;
+      if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      *(outbuffer + offset++) = effort_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < effort_length; i++){
+      long * val_efforti = (long *) &(this->effort[i]);
+      long exp_efforti = (((*val_efforti)>>23)&255);
+      if(exp_efforti != 0)
+        exp_efforti += 1023-127;
+      long sig_efforti = *val_efforti;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_efforti<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_efforti>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_efforti>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_efforti<<4) & 0xF0) | ((sig_efforti>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_efforti>>4) & 0x7F;
+      if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      unsigned char name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( unsigned char i = 0; i < name_length; i++){
+      uint32_t length_st_name = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+           }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      unsigned char position_lengthT = *(inbuffer + offset++);
+      if(position_lengthT > position_length)
+        this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
+      offset += 3;
+      position_length = position_lengthT;
+      for( unsigned char i = 0; i < position_length; i++){
+      unsigned long * val_st_position = (unsigned long*) &(this->st_position);
+      offset += 3;
+      *val_st_position = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_st_position |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_st_position |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_st_position |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_st_position = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_st_position |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_st_position !=0)
+        *val_st_position |= ((exp_st_position)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position;
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
+      }
+      unsigned char velocity_lengthT = *(inbuffer + offset++);
+      if(velocity_lengthT > velocity_length)
+        this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
+      offset += 3;
+      velocity_length = velocity_lengthT;
+      for( unsigned char i = 0; i < velocity_length; i++){
+      unsigned long * val_st_velocity = (unsigned long*) &(this->st_velocity);
+      offset += 3;
+      *val_st_velocity = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_st_velocity |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_st_velocity |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_st_velocity |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_st_velocity = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_st_velocity |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_st_velocity !=0)
+        *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity;
+        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
+      }
+      unsigned char effort_lengthT = *(inbuffer + offset++);
+      if(effort_lengthT > effort_length)
+        this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
+      offset += 3;
+      effort_length = effort_lengthT;
+      for( unsigned char i = 0; i < effort_length; i++){
+      unsigned long * val_st_effort = (unsigned long*) &(this->st_effort);
+      offset += 3;
+      *val_st_effort = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_st_effort |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_st_effort |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_st_effort |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_st_effort = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_st_effort |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_st_effort !=0)
+        *val_st_effort |= ((exp_st_effort)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort;
+        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
+      }
+     return offset;
+    }
+
+   virtual const char * getType(){ return "sensor_msgs/JointState"; };
+
+  };
+
+}
+#endif
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