Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
trajectory_msgs/MultiDOFJointTrajectory.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectory_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_trajectory_msgs_MultiDOFJointTrajectory_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 "std_msgs/Header.h" |
Gary Servin |
0:04ac6be8229a | 9 | #include "trajectory_msgs/MultiDOFJointTrajectoryPoint.h" |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | namespace trajectory_msgs |
Gary Servin |
0:04ac6be8229a | 12 | { |
Gary Servin |
0:04ac6be8229a | 13 | |
Gary Servin |
0:04ac6be8229a | 14 | class MultiDOFJointTrajectory : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 15 | { |
Gary Servin |
0:04ac6be8229a | 16 | public: |
Gary Servin |
0:04ac6be8229a | 17 | typedef std_msgs::Header _header_type; |
Gary Servin |
0:04ac6be8229a | 18 | _header_type header; |
Gary Servin |
0:04ac6be8229a | 19 | uint32_t joint_names_length; |
Gary Servin |
0:04ac6be8229a | 20 | typedef char* _joint_names_type; |
Gary Servin |
0:04ac6be8229a | 21 | _joint_names_type st_joint_names; |
Gary Servin |
0:04ac6be8229a | 22 | _joint_names_type * joint_names; |
Gary Servin |
0:04ac6be8229a | 23 | uint32_t points_length; |
Gary Servin |
0:04ac6be8229a | 24 | typedef trajectory_msgs::MultiDOFJointTrajectoryPoint _points_type; |
Gary Servin |
0:04ac6be8229a | 25 | _points_type st_points; |
Gary Servin |
0:04ac6be8229a | 26 | _points_type * points; |
Gary Servin |
0:04ac6be8229a | 27 | |
Gary Servin |
0:04ac6be8229a | 28 | MultiDOFJointTrajectory(): |
Gary Servin |
0:04ac6be8229a | 29 | header(), |
Gary Servin |
0:04ac6be8229a | 30 | joint_names_length(0), joint_names(NULL), |
Gary Servin |
0:04ac6be8229a | 31 | points_length(0), points(NULL) |
Gary Servin |
0:04ac6be8229a | 32 | { |
Gary Servin |
0:04ac6be8229a | 33 | } |
Gary Servin |
0:04ac6be8229a | 34 | |
Gary Servin |
0:04ac6be8229a | 35 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 36 | { |
Gary Servin |
0:04ac6be8229a | 37 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 38 | offset += this->header.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 39 | *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 40 | *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 41 | *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 42 | *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 43 | offset += sizeof(this->joint_names_length); |
Gary Servin |
0:04ac6be8229a | 44 | for( uint32_t i = 0; i < joint_names_length; i++){ |
Gary Servin |
0:04ac6be8229a | 45 | uint32_t length_joint_namesi = strlen(this->joint_names[i]); |
Gary Servin |
0:04ac6be8229a | 46 | varToArr(outbuffer + offset, length_joint_namesi); |
Gary Servin |
0:04ac6be8229a | 47 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 48 | memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); |
Gary Servin |
0:04ac6be8229a | 49 | offset += length_joint_namesi; |
Gary Servin |
0:04ac6be8229a | 50 | } |
Gary Servin |
0:04ac6be8229a | 51 | *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 52 | *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 53 | *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 54 | *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 55 | offset += sizeof(this->points_length); |
Gary Servin |
0:04ac6be8229a | 56 | for( uint32_t i = 0; i < points_length; i++){ |
Gary Servin |
0:04ac6be8229a | 57 | offset += this->points[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 58 | } |
Gary Servin |
0:04ac6be8229a | 59 | return offset; |
Gary Servin |
0:04ac6be8229a | 60 | } |
Gary Servin |
0:04ac6be8229a | 61 | |
Gary Servin |
0:04ac6be8229a | 62 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 63 | { |
Gary Servin |
0:04ac6be8229a | 64 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 65 | offset += this->header.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 66 | uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 67 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 68 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 69 | joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 70 | offset += sizeof(this->joint_names_length); |
Gary Servin |
0:04ac6be8229a | 71 | if(joint_names_lengthT > joint_names_length) |
Gary Servin |
0:04ac6be8229a | 72 | this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); |
Gary Servin |
0:04ac6be8229a | 73 | joint_names_length = joint_names_lengthT; |
Gary Servin |
0:04ac6be8229a | 74 | for( uint32_t i = 0; i < joint_names_length; i++){ |
Gary Servin |
0:04ac6be8229a | 75 | uint32_t length_st_joint_names; |
Gary Servin |
0:04ac6be8229a | 76 | arrToVar(length_st_joint_names, (inbuffer + offset)); |
Gary Servin |
0:04ac6be8229a | 77 | offset += 4; |
Gary Servin |
0:04ac6be8229a | 78 | for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ |
Gary Servin |
0:04ac6be8229a | 79 | inbuffer[k-1]=inbuffer[k]; |
Gary Servin |
0:04ac6be8229a | 80 | } |
Gary Servin |
0:04ac6be8229a | 81 | inbuffer[offset+length_st_joint_names-1]=0; |
Gary Servin |
0:04ac6be8229a | 82 | this->st_joint_names = (char *)(inbuffer + offset-1); |
Gary Servin |
0:04ac6be8229a | 83 | offset += length_st_joint_names; |
Gary Servin |
0:04ac6be8229a | 84 | memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); |
Gary Servin |
0:04ac6be8229a | 85 | } |
Gary Servin |
0:04ac6be8229a | 86 | uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 87 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 88 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 89 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 90 | offset += sizeof(this->points_length); |
Gary Servin |
0:04ac6be8229a | 91 | if(points_lengthT > points_length) |
Gary Servin |
0:04ac6be8229a | 92 | this->points = (trajectory_msgs::MultiDOFJointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint)); |
Gary Servin |
0:04ac6be8229a | 93 | points_length = points_lengthT; |
Gary Servin |
0:04ac6be8229a | 94 | for( uint32_t i = 0; i < points_length; i++){ |
Gary Servin |
0:04ac6be8229a | 95 | offset += this->st_points.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 96 | memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint)); |
Gary Servin |
0:04ac6be8229a | 97 | } |
Gary Servin |
0:04ac6be8229a | 98 | return offset; |
Gary Servin |
0:04ac6be8229a | 99 | } |
Gary Servin |
0:04ac6be8229a | 100 | |
Gary Servin |
0:04ac6be8229a | 101 | const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectory"; }; |
Gary Servin |
0:04ac6be8229a | 102 | const char * getMD5(){ return "ef145a45a5f47b77b7f5cdde4b16c942"; }; |
Gary Servin |
0:04ac6be8229a | 103 | |
Gary Servin |
0:04ac6be8229a | 104 | }; |
Gary Servin |
0:04ac6be8229a | 105 | |
Gary Servin |
0:04ac6be8229a | 106 | } |
Gary Servin |
0:04ac6be8229a | 107 | #endif |