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/JointTolerance.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_control_msgs_JointTolerance_h
garyservin 0:fd24f7ca9688 2 #define _ROS_control_msgs_JointTolerance_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
garyservin 0:fd24f7ca9688 9 namespace control_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class JointTolerance : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 const char* name;
garyservin 0:fd24f7ca9688 16 double position;
garyservin 0:fd24f7ca9688 17 double velocity;
garyservin 0:fd24f7ca9688 18 double acceleration;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 JointTolerance():
garyservin 0:fd24f7ca9688 21 name(""),
garyservin 0:fd24f7ca9688 22 position(0),
garyservin 0:fd24f7ca9688 23 velocity(0),
garyservin 0:fd24f7ca9688 24 acceleration(0)
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 }
garyservin 0:fd24f7ca9688 27
garyservin 0:fd24f7ca9688 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 int offset = 0;
garyservin 0:fd24f7ca9688 31 uint32_t length_name = strlen(this->name);
garyservin 0:fd24f7ca9688 32 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 33 offset += 4;
garyservin 0:fd24f7ca9688 34 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:fd24f7ca9688 35 offset += length_name;
garyservin 0:fd24f7ca9688 36 union {
garyservin 0:fd24f7ca9688 37 double real;
garyservin 0:fd24f7ca9688 38 uint64_t base;
garyservin 0:fd24f7ca9688 39 } u_position;
garyservin 0:fd24f7ca9688 40 u_position.real = this->position;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 49 offset += sizeof(this->position);
garyservin 0:fd24f7ca9688 50 union {
garyservin 0:fd24f7ca9688 51 double real;
garyservin 0:fd24f7ca9688 52 uint64_t base;
garyservin 0:fd24f7ca9688 53 } u_velocity;
garyservin 0:fd24f7ca9688 54 u_velocity.real = this->velocity;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 63 offset += sizeof(this->velocity);
garyservin 0:fd24f7ca9688 64 union {
garyservin 0:fd24f7ca9688 65 double real;
garyservin 0:fd24f7ca9688 66 uint64_t base;
garyservin 0:fd24f7ca9688 67 } u_acceleration;
garyservin 0:fd24f7ca9688 68 u_acceleration.real = this->acceleration;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 75 *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 76 *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 77 offset += sizeof(this->acceleration);
garyservin 0:fd24f7ca9688 78 return offset;
garyservin 0:fd24f7ca9688 79 }
garyservin 0:fd24f7ca9688 80
garyservin 0:fd24f7ca9688 81 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 82 {
garyservin 0:fd24f7ca9688 83 int offset = 0;
garyservin 0:fd24f7ca9688 84 uint32_t length_name;
garyservin 0:fd24f7ca9688 85 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 86 offset += 4;
garyservin 0:fd24f7ca9688 87 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:fd24f7ca9688 88 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 89 }
garyservin 0:fd24f7ca9688 90 inbuffer[offset+length_name-1]=0;
garyservin 0:fd24f7ca9688 91 this->name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 92 offset += length_name;
garyservin 0:fd24f7ca9688 93 union {
garyservin 0:fd24f7ca9688 94 double real;
garyservin 0:fd24f7ca9688 95 uint64_t base;
garyservin 0:fd24f7ca9688 96 } u_position;
garyservin 0:fd24f7ca9688 97 u_position.base = 0;
garyservin 0:fd24f7ca9688 98 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 99 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 100 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 101 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 102 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 103 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 104 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 105 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 106 this->position = u_position.real;
garyservin 0:fd24f7ca9688 107 offset += sizeof(this->position);
garyservin 0:fd24f7ca9688 108 union {
garyservin 0:fd24f7ca9688 109 double real;
garyservin 0:fd24f7ca9688 110 uint64_t base;
garyservin 0:fd24f7ca9688 111 } u_velocity;
garyservin 0:fd24f7ca9688 112 u_velocity.base = 0;
garyservin 0:fd24f7ca9688 113 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 114 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 115 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 116 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 117 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 118 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 119 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 120 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 121 this->velocity = u_velocity.real;
garyservin 0:fd24f7ca9688 122 offset += sizeof(this->velocity);
garyservin 0:fd24f7ca9688 123 union {
garyservin 0:fd24f7ca9688 124 double real;
garyservin 0:fd24f7ca9688 125 uint64_t base;
garyservin 0:fd24f7ca9688 126 } u_acceleration;
garyservin 0:fd24f7ca9688 127 u_acceleration.base = 0;
garyservin 0:fd24f7ca9688 128 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 129 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 130 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 131 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 132 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 133 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 134 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 135 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 136 this->acceleration = u_acceleration.real;
garyservin 0:fd24f7ca9688 137 offset += sizeof(this->acceleration);
garyservin 0:fd24f7ca9688 138 return offset;
garyservin 0:fd24f7ca9688 139 }
garyservin 0:fd24f7ca9688 140
garyservin 0:fd24f7ca9688 141 const char * getType(){ return "control_msgs/JointTolerance"; };
garyservin 0:fd24f7ca9688 142 const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
garyservin 0:fd24f7ca9688 143
garyservin 0:fd24f7ca9688 144 };
garyservin 0:fd24f7ca9688 145
garyservin 0:fd24f7ca9688 146 }
garyservin 0:fd24f7ca9688 147 #endif