Руслан Бредун
test
Diff: ros_lib_melodic/control_toolbox/SetPidGains.h
- Revision:
- 10:0b7f23df690a
- Parent:
- 9:859bcb293e46
- Child:
- 11:32eeb052cda5
--- a/ros_lib_melodic/control_toolbox/SetPidGains.h Thu Jul 30 13:04:10 2020 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,216 +0,0 @@
-#ifndef _ROS_SERVICE_SetPidGains_h
-#define _ROS_SERVICE_SetPidGains_h
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include "ros/msg.h"
-
-namespace control_toolbox
-{
-
-static const char SETPIDGAINS[] = "control_toolbox/SetPidGains";
-
- class SetPidGainsRequest : public ros::Msg
- {
- public:
- typedef double _p_type;
- _p_type p;
- typedef double _i_type;
- _i_type i;
- typedef double _d_type;
- _d_type d;
- typedef double _i_clamp_type;
- _i_clamp_type i_clamp;
- typedef bool _antiwindup_type;
- _antiwindup_type antiwindup;
-
- SetPidGainsRequest():
- p(0),
- i(0),
- d(0),
- i_clamp(0),
- antiwindup(0)
- {
- }
-
- virtual int serialize(unsigned char *outbuffer) const
- {
- int offset = 0;
- 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);
- union {
- bool real;
- uint8_t base;
- } u_antiwindup;
- u_antiwindup.real = this->antiwindup;
- *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF;
- offset += sizeof(this->antiwindup);
- return offset;
- }
-
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- 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);
- union {
- bool real;
- uint8_t base;
- } u_antiwindup;
- u_antiwindup.base = 0;
- u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
- this->antiwindup = u_antiwindup.real;
- offset += sizeof(this->antiwindup);
- return offset;
- }
-
- const char * getType(){ return SETPIDGAINS; };
- const char * getMD5(){ return "4a43159879643e60937bf2893b633607"; };
-
- };
-
- class SetPidGainsResponse : public ros::Msg
- {
- public:
-
- SetPidGainsResponse()
- {
- }
-
- virtual int serialize(unsigned char *outbuffer) const
- {
- int offset = 0;
- return offset;
- }
-
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- return offset;
- }
-
- const char * getType(){ return SETPIDGAINS; };
- const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
-
- };
-
- class SetPidGains {
- public:
- typedef SetPidGainsRequest Request;
- typedef SetPidGainsResponse Response;
- };
-
-}
-#endif