Diff: control_msgs/JointTrajectoryControllerState.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryControllerState.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,88 @@
+#ifndef _ROS_control_msgs_JointTrajectoryControllerState_h
+#define _ROS_control_msgs_JointTrajectoryControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/JointTrajectoryPoint.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryControllerState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      trajectory_msgs::JointTrajectoryPoint desired;
+      trajectory_msgs::JointTrajectoryPoint actual;
+      trajectory_msgs::JointTrajectoryPoint error;
+
+    JointTrajectoryControllerState():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      desired(),
+      actual(),
+      error()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      offset += this->desired.serialize(outbuffer + offset);
+      offset += this->actual.serialize(outbuffer + offset);
+      offset += this->error.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      offset += this->desired.deserialize(inbuffer + offset);
+      offset += this->actual.deserialize(inbuffer + offset);
+      offset += this->error.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; };
+    const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
+
+  };
+
+}
+#endif
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