ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

control_msgs/FollowJointTrajectoryGoal.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h
garyservin 0:fd24f7ca9688 2 #define _ROS_control_msgs_FollowJointTrajectoryGoal_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "trajectory_msgs/JointTrajectory.h"
garyservin 0:fd24f7ca9688 9 #include "control_msgs/JointTolerance.h"
garyservin 0:fd24f7ca9688 10 #include "ros/duration.h"
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 namespace control_msgs
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14
garyservin 0:fd24f7ca9688 15 class FollowJointTrajectoryGoal : public ros::Msg
garyservin 0:fd24f7ca9688 16 {
garyservin 0:fd24f7ca9688 17 public:
garyservin 0:fd24f7ca9688 18 trajectory_msgs::JointTrajectory trajectory;
garyservin 0:fd24f7ca9688 19 uint8_t path_tolerance_length;
garyservin 0:fd24f7ca9688 20 control_msgs::JointTolerance st_path_tolerance;
garyservin 0:fd24f7ca9688 21 control_msgs::JointTolerance * path_tolerance;
garyservin 0:fd24f7ca9688 22 uint8_t goal_tolerance_length;
garyservin 0:fd24f7ca9688 23 control_msgs::JointTolerance st_goal_tolerance;
garyservin 0:fd24f7ca9688 24 control_msgs::JointTolerance * goal_tolerance;
garyservin 0:fd24f7ca9688 25 ros::Duration goal_time_tolerance;
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 FollowJointTrajectoryGoal():
garyservin 0:fd24f7ca9688 28 trajectory(),
garyservin 0:fd24f7ca9688 29 path_tolerance_length(0), path_tolerance(NULL),
garyservin 0:fd24f7ca9688 30 goal_tolerance_length(0), goal_tolerance(NULL),
garyservin 0:fd24f7ca9688 31 goal_time_tolerance()
garyservin 0:fd24f7ca9688 32 {
garyservin 0:fd24f7ca9688 33 }
garyservin 0:fd24f7ca9688 34
garyservin 0:fd24f7ca9688 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 36 {
garyservin 0:fd24f7ca9688 37 int offset = 0;
garyservin 0:fd24f7ca9688 38 offset += this->trajectory.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset++) = path_tolerance_length;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 43 for( uint8_t i = 0; i < path_tolerance_length; i++){
garyservin 0:fd24f7ca9688 44 offset += this->path_tolerance[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 45 }
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset++) = goal_tolerance_length;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 50 for( uint8_t i = 0; i < goal_tolerance_length; i++){
garyservin 0:fd24f7ca9688 51 offset += this->goal_tolerance[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 52 }
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 57 offset += sizeof(this->goal_time_tolerance.sec);
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 62 offset += sizeof(this->goal_time_tolerance.nsec);
garyservin 0:fd24f7ca9688 63 return offset;
garyservin 0:fd24f7ca9688 64 }
garyservin 0:fd24f7ca9688 65
garyservin 0:fd24f7ca9688 66 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 67 {
garyservin 0:fd24f7ca9688 68 int offset = 0;
garyservin 0:fd24f7ca9688 69 offset += this->trajectory.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 70 uint8_t path_tolerance_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 71 if(path_tolerance_lengthT > path_tolerance_length)
garyservin 0:fd24f7ca9688 72 this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
garyservin 0:fd24f7ca9688 73 offset += 3;
garyservin 0:fd24f7ca9688 74 path_tolerance_length = path_tolerance_lengthT;
garyservin 0:fd24f7ca9688 75 for( uint8_t i = 0; i < path_tolerance_length; i++){
garyservin 0:fd24f7ca9688 76 offset += this->st_path_tolerance.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 77 memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance));
garyservin 0:fd24f7ca9688 78 }
garyservin 0:fd24f7ca9688 79 uint8_t goal_tolerance_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 80 if(goal_tolerance_lengthT > goal_tolerance_length)
garyservin 0:fd24f7ca9688 81 this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
garyservin 0:fd24f7ca9688 82 offset += 3;
garyservin 0:fd24f7ca9688 83 goal_tolerance_length = goal_tolerance_lengthT;
garyservin 0:fd24f7ca9688 84 for( uint8_t i = 0; i < goal_tolerance_length; i++){
garyservin 0:fd24f7ca9688 85 offset += this->st_goal_tolerance.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 86 memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance));
garyservin 0:fd24f7ca9688 87 }
garyservin 0:fd24f7ca9688 88 this->goal_time_tolerance.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 89 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 90 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 91 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 92 offset += sizeof(this->goal_time_tolerance.sec);
garyservin 0:fd24f7ca9688 93 this->goal_time_tolerance.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 94 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 95 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 96 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 97 offset += sizeof(this->goal_time_tolerance.nsec);
garyservin 0:fd24f7ca9688 98 return offset;
garyservin 0:fd24f7ca9688 99 }
garyservin 0:fd24f7ca9688 100
garyservin 0:fd24f7ca9688 101 const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; };
garyservin 0:fd24f7ca9688 102 const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; };
garyservin 0:fd24f7ca9688 103
garyservin 0:fd24f7ca9688 104 };
garyservin 0:fd24f7ca9688 105
garyservin 0:fd24f7ca9688 106 }
garyservin 0:fd24f7ca9688 107 #endif