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

sensor_msgs/MultiDOFJointState.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_sensor_msgs_MultiDOFJointState_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_MultiDOFJointState_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 "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/Transform.h"
garyservin 0:fd24f7ca9688 10 #include "geometry_msgs/Twist.h"
garyservin 0:fd24f7ca9688 11 #include "geometry_msgs/Wrench.h"
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 namespace sensor_msgs
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15
garyservin 0:fd24f7ca9688 16 class MultiDOFJointState : public ros::Msg
garyservin 0:fd24f7ca9688 17 {
garyservin 0:fd24f7ca9688 18 public:
garyservin 0:fd24f7ca9688 19 std_msgs::Header header;
garyservin 0:fd24f7ca9688 20 uint8_t joint_names_length;
garyservin 0:fd24f7ca9688 21 char* st_joint_names;
garyservin 0:fd24f7ca9688 22 char* * joint_names;
garyservin 0:fd24f7ca9688 23 uint8_t transforms_length;
garyservin 0:fd24f7ca9688 24 geometry_msgs::Transform st_transforms;
garyservin 0:fd24f7ca9688 25 geometry_msgs::Transform * transforms;
garyservin 0:fd24f7ca9688 26 uint8_t twist_length;
garyservin 0:fd24f7ca9688 27 geometry_msgs::Twist st_twist;
garyservin 0:fd24f7ca9688 28 geometry_msgs::Twist * twist;
garyservin 0:fd24f7ca9688 29 uint8_t wrench_length;
garyservin 0:fd24f7ca9688 30 geometry_msgs::Wrench st_wrench;
garyservin 0:fd24f7ca9688 31 geometry_msgs::Wrench * wrench;
garyservin 0:fd24f7ca9688 32
garyservin 0:fd24f7ca9688 33 MultiDOFJointState():
garyservin 0:fd24f7ca9688 34 header(),
garyservin 0:fd24f7ca9688 35 joint_names_length(0), joint_names(NULL),
garyservin 0:fd24f7ca9688 36 transforms_length(0), transforms(NULL),
garyservin 0:fd24f7ca9688 37 twist_length(0), twist(NULL),
garyservin 0:fd24f7ca9688 38 wrench_length(0), wrench(NULL)
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 }
garyservin 0:fd24f7ca9688 41
garyservin 0:fd24f7ca9688 42 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 43 {
garyservin 0:fd24f7ca9688 44 int offset = 0;
garyservin 0:fd24f7ca9688 45 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset++) = joint_names_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 < joint_names_length; i++){
garyservin 0:fd24f7ca9688 51 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
garyservin 0:fd24f7ca9688 52 memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 53 offset += 4;
garyservin 0:fd24f7ca9688 54 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
garyservin 0:fd24f7ca9688 55 offset += length_joint_namesi;
garyservin 0:fd24f7ca9688 56 }
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset++) = transforms_length;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 61 for( uint8_t i = 0; i < transforms_length; i++){
garyservin 0:fd24f7ca9688 62 offset += this->transforms[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 63 }
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset++) = twist_length;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 68 for( uint8_t i = 0; i < twist_length; i++){
garyservin 0:fd24f7ca9688 69 offset += this->twist[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 70 }
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset++) = wrench_length;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 75 for( uint8_t i = 0; i < wrench_length; i++){
garyservin 0:fd24f7ca9688 76 offset += this->wrench[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 77 }
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 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 85 uint8_t joint_names_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 86 if(joint_names_lengthT > joint_names_length)
garyservin 0:fd24f7ca9688 87 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
garyservin 0:fd24f7ca9688 88 offset += 3;
garyservin 0:fd24f7ca9688 89 joint_names_length = joint_names_lengthT;
garyservin 0:fd24f7ca9688 90 for( uint8_t i = 0; i < joint_names_length; i++){
garyservin 0:fd24f7ca9688 91 uint32_t length_st_joint_names;
garyservin 0:fd24f7ca9688 92 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 93 offset += 4;
garyservin 0:fd24f7ca9688 94 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
garyservin 0:fd24f7ca9688 95 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 96 }
garyservin 0:fd24f7ca9688 97 inbuffer[offset+length_st_joint_names-1]=0;
garyservin 0:fd24f7ca9688 98 this->st_joint_names = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 99 offset += length_st_joint_names;
garyservin 0:fd24f7ca9688 100 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
garyservin 0:fd24f7ca9688 101 }
garyservin 0:fd24f7ca9688 102 uint8_t transforms_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 103 if(transforms_lengthT > transforms_length)
garyservin 0:fd24f7ca9688 104 this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
garyservin 0:fd24f7ca9688 105 offset += 3;
garyservin 0:fd24f7ca9688 106 transforms_length = transforms_lengthT;
garyservin 0:fd24f7ca9688 107 for( uint8_t i = 0; i < transforms_length; i++){
garyservin 0:fd24f7ca9688 108 offset += this->st_transforms.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 109 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
garyservin 0:fd24f7ca9688 110 }
garyservin 0:fd24f7ca9688 111 uint8_t twist_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 112 if(twist_lengthT > twist_length)
garyservin 0:fd24f7ca9688 113 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
garyservin 0:fd24f7ca9688 114 offset += 3;
garyservin 0:fd24f7ca9688 115 twist_length = twist_lengthT;
garyservin 0:fd24f7ca9688 116 for( uint8_t i = 0; i < twist_length; i++){
garyservin 0:fd24f7ca9688 117 offset += this->st_twist.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 118 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
garyservin 0:fd24f7ca9688 119 }
garyservin 0:fd24f7ca9688 120 uint8_t wrench_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 121 if(wrench_lengthT > wrench_length)
garyservin 0:fd24f7ca9688 122 this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
garyservin 0:fd24f7ca9688 123 offset += 3;
garyservin 0:fd24f7ca9688 124 wrench_length = wrench_lengthT;
garyservin 0:fd24f7ca9688 125 for( uint8_t i = 0; i < wrench_length; i++){
garyservin 0:fd24f7ca9688 126 offset += this->st_wrench.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 127 memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
garyservin 0:fd24f7ca9688 128 }
garyservin 0:fd24f7ca9688 129 return offset;
garyservin 0:fd24f7ca9688 130 }
garyservin 0:fd24f7ca9688 131
garyservin 0:fd24f7ca9688 132 const char * getType(){ return "sensor_msgs/MultiDOFJointState"; };
garyservin 0:fd24f7ca9688 133 const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; };
garyservin 0:fd24f7ca9688 134
garyservin 0:fd24f7ca9688 135 };
garyservin 0:fd24f7ca9688 136
garyservin 0:fd24f7ca9688 137 }
garyservin 0:fd24f7ca9688 138 #endif