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/SingleJointPositionGoal.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_SingleJointPositionGoal_h
garyservin 0:fd24f7ca9688 2 #define _ROS_control_msgs_SingleJointPositionGoal_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 "ros/duration.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace control_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class SingleJointPositionGoal : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 double position;
garyservin 0:fd24f7ca9688 17 ros::Duration min_duration;
garyservin 0:fd24f7ca9688 18 double max_velocity;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 SingleJointPositionGoal():
garyservin 0:fd24f7ca9688 21 position(0),
garyservin 0:fd24f7ca9688 22 min_duration(),
garyservin 0:fd24f7ca9688 23 max_velocity(0)
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 }
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 int offset = 0;
garyservin 0:fd24f7ca9688 30 union {
garyservin 0:fd24f7ca9688 31 double real;
garyservin 0:fd24f7ca9688 32 uint64_t base;
garyservin 0:fd24f7ca9688 33 } u_position;
garyservin 0:fd24f7ca9688 34 u_position.real = this->position;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 43 offset += sizeof(this->position);
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 48 offset += sizeof(this->min_duration.sec);
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 53 offset += sizeof(this->min_duration.nsec);
garyservin 0:fd24f7ca9688 54 union {
garyservin 0:fd24f7ca9688 55 double real;
garyservin 0:fd24f7ca9688 56 uint64_t base;
garyservin 0:fd24f7ca9688 57 } u_max_velocity;
garyservin 0:fd24f7ca9688 58 u_max_velocity.real = this->max_velocity;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 63 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 67 offset += sizeof(this->max_velocity);
garyservin 0:fd24f7ca9688 68 return offset;
garyservin 0:fd24f7ca9688 69 }
garyservin 0:fd24f7ca9688 70
garyservin 0:fd24f7ca9688 71 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 72 {
garyservin 0:fd24f7ca9688 73 int offset = 0;
garyservin 0:fd24f7ca9688 74 union {
garyservin 0:fd24f7ca9688 75 double real;
garyservin 0:fd24f7ca9688 76 uint64_t base;
garyservin 0:fd24f7ca9688 77 } u_position;
garyservin 0:fd24f7ca9688 78 u_position.base = 0;
garyservin 0:fd24f7ca9688 79 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 80 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 81 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 82 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 83 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 84 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 85 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 86 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 87 this->position = u_position.real;
garyservin 0:fd24f7ca9688 88 offset += sizeof(this->position);
garyservin 0:fd24f7ca9688 89 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 90 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 91 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 92 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 93 offset += sizeof(this->min_duration.sec);
garyservin 0:fd24f7ca9688 94 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 95 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 96 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 97 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 98 offset += sizeof(this->min_duration.nsec);
garyservin 0:fd24f7ca9688 99 union {
garyservin 0:fd24f7ca9688 100 double real;
garyservin 0:fd24f7ca9688 101 uint64_t base;
garyservin 0:fd24f7ca9688 102 } u_max_velocity;
garyservin 0:fd24f7ca9688 103 u_max_velocity.base = 0;
garyservin 0:fd24f7ca9688 104 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 105 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 106 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 112 this->max_velocity = u_max_velocity.real;
garyservin 0:fd24f7ca9688 113 offset += sizeof(this->max_velocity);
garyservin 0:fd24f7ca9688 114 return offset;
garyservin 0:fd24f7ca9688 115 }
garyservin 0:fd24f7ca9688 116
garyservin 0:fd24f7ca9688 117 const char * getType(){ return "control_msgs/SingleJointPositionGoal"; };
garyservin 0:fd24f7ca9688 118 const char * getMD5(){ return "fbaaa562a23a013fd5053e5f72cbb35c"; };
garyservin 0:fd24f7ca9688 119
garyservin 0:fd24f7ca9688 120 };
garyservin 0:fd24f7ca9688 121
garyservin 0:fd24f7ca9688 122 }
garyservin 0:fd24f7ca9688 123 #endif