hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

control_msgs/FollowJointTrajectoryGoal.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_FollowJointTrajectoryGoal_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "trajectory_msgs/JointTrajectory.h"
Gary Servin 0:04ac6be8229a 9 #include "control_msgs/JointTolerance.h"
Gary Servin 0:04ac6be8229a 10 #include "ros/duration.h"
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 namespace control_msgs
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class FollowJointTrajectoryGoal : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef trajectory_msgs::JointTrajectory _trajectory_type;
Gary Servin 0:04ac6be8229a 19 _trajectory_type trajectory;
Gary Servin 0:04ac6be8229a 20 uint32_t path_tolerance_length;
Gary Servin 0:04ac6be8229a 21 typedef control_msgs::JointTolerance _path_tolerance_type;
Gary Servin 0:04ac6be8229a 22 _path_tolerance_type st_path_tolerance;
Gary Servin 0:04ac6be8229a 23 _path_tolerance_type * path_tolerance;
Gary Servin 0:04ac6be8229a 24 uint32_t goal_tolerance_length;
Gary Servin 0:04ac6be8229a 25 typedef control_msgs::JointTolerance _goal_tolerance_type;
Gary Servin 0:04ac6be8229a 26 _goal_tolerance_type st_goal_tolerance;
Gary Servin 0:04ac6be8229a 27 _goal_tolerance_type * goal_tolerance;
Gary Servin 0:04ac6be8229a 28 typedef ros::Duration _goal_time_tolerance_type;
Gary Servin 0:04ac6be8229a 29 _goal_time_tolerance_type goal_time_tolerance;
Gary Servin 0:04ac6be8229a 30
Gary Servin 0:04ac6be8229a 31 FollowJointTrajectoryGoal():
Gary Servin 0:04ac6be8229a 32 trajectory(),
Gary Servin 0:04ac6be8229a 33 path_tolerance_length(0), path_tolerance(NULL),
Gary Servin 0:04ac6be8229a 34 goal_tolerance_length(0), goal_tolerance(NULL),
Gary Servin 0:04ac6be8229a 35 goal_time_tolerance()
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 }
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 int offset = 0;
Gary Servin 0:04ac6be8229a 42 offset += this->trajectory.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 0) = (this->path_tolerance_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 1) = (this->path_tolerance_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 2) = (this->path_tolerance_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 3) = (this->path_tolerance_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->path_tolerance_length);
Gary Servin 0:04ac6be8229a 48 for( uint32_t i = 0; i < path_tolerance_length; i++){
Gary Servin 0:04ac6be8229a 49 offset += this->path_tolerance[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 50 }
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 0) = (this->goal_tolerance_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 1) = (this->goal_tolerance_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 2) = (this->goal_tolerance_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 3) = (this->goal_tolerance_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 offset += sizeof(this->goal_tolerance_length);
Gary Servin 0:04ac6be8229a 56 for( uint32_t i = 0; i < goal_tolerance_length; i++){
Gary Servin 0:04ac6be8229a 57 offset += this->goal_tolerance[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 58 }
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 offset += sizeof(this->goal_time_tolerance.sec);
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 offset += sizeof(this->goal_time_tolerance.nsec);
Gary Servin 0:04ac6be8229a 69 return offset;
Gary Servin 0:04ac6be8229a 70 }
Gary Servin 0:04ac6be8229a 71
Gary Servin 0:04ac6be8229a 72 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 73 {
Gary Servin 0:04ac6be8229a 74 int offset = 0;
Gary Servin 0:04ac6be8229a 75 offset += this->trajectory.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 76 uint32_t path_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 77 path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 78 path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 79 path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 80 offset += sizeof(this->path_tolerance_length);
Gary Servin 0:04ac6be8229a 81 if(path_tolerance_lengthT > path_tolerance_length)
Gary Servin 0:04ac6be8229a 82 this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
Gary Servin 0:04ac6be8229a 83 path_tolerance_length = path_tolerance_lengthT;
Gary Servin 0:04ac6be8229a 84 for( uint32_t i = 0; i < path_tolerance_length; i++){
Gary Servin 0:04ac6be8229a 85 offset += this->st_path_tolerance.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 86 memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance));
Gary Servin 0:04ac6be8229a 87 }
Gary Servin 0:04ac6be8229a 88 uint32_t goal_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 89 goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 90 goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 91 goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 92 offset += sizeof(this->goal_tolerance_length);
Gary Servin 0:04ac6be8229a 93 if(goal_tolerance_lengthT > goal_tolerance_length)
Gary Servin 0:04ac6be8229a 94 this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
Gary Servin 0:04ac6be8229a 95 goal_tolerance_length = goal_tolerance_lengthT;
Gary Servin 0:04ac6be8229a 96 for( uint32_t i = 0; i < goal_tolerance_length; i++){
Gary Servin 0:04ac6be8229a 97 offset += this->st_goal_tolerance.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 98 memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance));
Gary Servin 0:04ac6be8229a 99 }
Gary Servin 0:04ac6be8229a 100 this->goal_time_tolerance.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 101 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 102 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 103 this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 104 offset += sizeof(this->goal_time_tolerance.sec);
Gary Servin 0:04ac6be8229a 105 this->goal_time_tolerance.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 106 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 107 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 108 this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 109 offset += sizeof(this->goal_time_tolerance.nsec);
Gary Servin 0:04ac6be8229a 110 return offset;
Gary Servin 0:04ac6be8229a 111 }
Gary Servin 0:04ac6be8229a 112
Gary Servin 0:04ac6be8229a 113 const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; };
Gary Servin 0:04ac6be8229a 114 const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; };
Gary Servin 0:04ac6be8229a 115
Gary Servin 0:04ac6be8229a 116 };
Gary Servin 0:04ac6be8229a 117
Gary Servin 0:04ac6be8229a 118 }
Gary Servin 0:04ac6be8229a 119 #endif