Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
control_toolbox/SetPidGains.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 0:04ac6be8229a
File content as of revision 0:04ac6be8229a:
#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