Diff: control_msgs/PointHeadGoal.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadGoal.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,118 @@
+#ifndef _ROS_control_msgs_PointHeadGoal_h
+#define _ROS_control_msgs_PointHeadGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PointStamped.h"
+#include "geometry_msgs/Vector3.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class PointHeadGoal : public ros::Msg
+  {
+    public:
+      geometry_msgs::PointStamped target;
+      geometry_msgs::Vector3 pointing_axis;
+      const char* pointing_frame;
+      ros::Duration min_duration;
+      double max_velocity;
+
+    PointHeadGoal():
+      target(),
+      pointing_axis(),
+      pointing_frame(""),
+      min_duration(),
+      max_velocity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->target.serialize(outbuffer + offset);
+      offset += this->pointing_axis.serialize(outbuffer + offset);
+      uint32_t length_pointing_frame = strlen(this->pointing_frame);
+      memcpy(outbuffer + offset, &length_pointing_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
+      offset += length_pointing_frame;
+      *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.sec);
+      *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.real = this->max_velocity;
+      *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_velocity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->target.deserialize(inbuffer + offset);
+      offset += this->pointing_axis.deserialize(inbuffer + offset);
+      uint32_t length_pointing_frame;
+      memcpy(&length_pointing_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_pointing_frame-1]=0;
+      this->pointing_frame = (char *)(inbuffer + offset-1);
+      offset += length_pointing_frame;
+      this->min_duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.sec);
+      this->min_duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.base = 0;
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_velocity = u_max_velocity.real;
+      offset += sizeof(this->max_velocity);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadGoal"; };
+    const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file