Diff: control_msgs/JointControllerState.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointControllerState.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,353 @@
+#ifndef _ROS_control_msgs_JointControllerState_h
+#define _ROS_control_msgs_JointControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace control_msgs
+{
+
+  class JointControllerState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      double set_point;
+      double process_value;
+      double process_value_dot;
+      double error;
+      double time_step;
+      double command;
+      double p;
+      double i;
+      double d;
+      double i_clamp;
+
+    JointControllerState():
+      header(),
+      set_point(0),
+      process_value(0),
+      process_value_dot(0),
+      error(0),
+      time_step(0),
+      command(0),
+      p(0),
+      i(0),
+      d(0),
+      i_clamp(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_set_point;
+      u_set_point.real = this->set_point;
+      *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->set_point);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value;
+      u_process_value.real = this->process_value;
+      *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->process_value);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value_dot;
+      u_process_value_dot.real = this->process_value_dot;
+      *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->process_value_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.real = this->error;
+      *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.real = this->time_step;
+      *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_command;
+      u_command.real = this->command;
+      *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->command);
+      union {
+        double real;
+        uint64_t base;
+      } u_p;
+      u_p.real = this->p;
+      *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->p);
+      union {
+        double real;
+        uint64_t base;
+      } u_i;
+      u_i.real = this->i;
+      *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i);
+      union {
+        double real;
+        uint64_t base;
+      } u_d;
+      u_d.real = this->d;
+      *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->d);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_clamp;
+      u_i_clamp.real = this->i_clamp;
+      *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i_clamp);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_set_point;
+      u_set_point.base = 0;
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->set_point = u_set_point.real;
+      offset += sizeof(this->set_point);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value;
+      u_process_value.base = 0;
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->process_value = u_process_value.real;
+      offset += sizeof(this->process_value);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value_dot;
+      u_process_value_dot.base = 0;
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->process_value_dot = u_process_value_dot.real;
+      offset += sizeof(this->process_value_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.base = 0;
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->error = u_error.real;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.base = 0;
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->time_step = u_time_step.real;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_command;
+      u_command.base = 0;
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->command = u_command.real;
+      offset += sizeof(this->command);
+      union {
+        double real;
+        uint64_t base;
+      } u_p;
+      u_p.base = 0;
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->p = u_p.real;
+      offset += sizeof(this->p);
+      union {
+        double real;
+        uint64_t base;
+      } u_i;
+      u_i.base = 0;
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i = u_i.real;
+      offset += sizeof(this->i);
+      union {
+        double real;
+        uint64_t base;
+      } u_d;
+      u_d.base = 0;
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->d = u_d.real;
+      offset += sizeof(this->d);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_clamp;
+      u_i_clamp.base = 0;
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i_clamp = u_i_clamp.real;
+      offset += sizeof(this->i_clamp);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointControllerState"; };
+    const char * getMD5(){ return "c0d034a7bf20aeb1c37f3eccb7992b69"; };
+
+  };
+
+}
+#endif
\ No newline at end of file