Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
trajectory_msgs/MultiDOFJointTrajectoryPoint.h@0:04ac6be8229a, 2019-11-08 (annotated)
- Committer:
- Gary Servin
- Date:
- Fri Nov 08 14:38:09 2019 -0300
- Revision:
- 0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_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 "geometry_msgs/Transform.h" |
Gary Servin |
0:04ac6be8229a | 9 | #include "geometry_msgs/Twist.h" |
Gary Servin |
0:04ac6be8229a | 10 | #include "ros/duration.h" |
Gary Servin |
0:04ac6be8229a | 11 | |
Gary Servin |
0:04ac6be8229a | 12 | namespace trajectory_msgs |
Gary Servin |
0:04ac6be8229a | 13 | { |
Gary Servin |
0:04ac6be8229a | 14 | |
Gary Servin |
0:04ac6be8229a | 15 | class MultiDOFJointTrajectoryPoint : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 16 | { |
Gary Servin |
0:04ac6be8229a | 17 | public: |
Gary Servin |
0:04ac6be8229a | 18 | uint32_t transforms_length; |
Gary Servin |
0:04ac6be8229a | 19 | typedef geometry_msgs::Transform _transforms_type; |
Gary Servin |
0:04ac6be8229a | 20 | _transforms_type st_transforms; |
Gary Servin |
0:04ac6be8229a | 21 | _transforms_type * transforms; |
Gary Servin |
0:04ac6be8229a | 22 | uint32_t velocities_length; |
Gary Servin |
0:04ac6be8229a | 23 | typedef geometry_msgs::Twist _velocities_type; |
Gary Servin |
0:04ac6be8229a | 24 | _velocities_type st_velocities; |
Gary Servin |
0:04ac6be8229a | 25 | _velocities_type * velocities; |
Gary Servin |
0:04ac6be8229a | 26 | uint32_t accelerations_length; |
Gary Servin |
0:04ac6be8229a | 27 | typedef geometry_msgs::Twist _accelerations_type; |
Gary Servin |
0:04ac6be8229a | 28 | _accelerations_type st_accelerations; |
Gary Servin |
0:04ac6be8229a | 29 | _accelerations_type * accelerations; |
Gary Servin |
0:04ac6be8229a | 30 | typedef ros::Duration _time_from_start_type; |
Gary Servin |
0:04ac6be8229a | 31 | _time_from_start_type time_from_start; |
Gary Servin |
0:04ac6be8229a | 32 | |
Gary Servin |
0:04ac6be8229a | 33 | MultiDOFJointTrajectoryPoint(): |
Gary Servin |
0:04ac6be8229a | 34 | transforms_length(0), transforms(NULL), |
Gary Servin |
0:04ac6be8229a | 35 | velocities_length(0), velocities(NULL), |
Gary Servin |
0:04ac6be8229a | 36 | accelerations_length(0), accelerations(NULL), |
Gary Servin |
0:04ac6be8229a | 37 | time_from_start() |
Gary Servin |
0:04ac6be8229a | 38 | { |
Gary Servin |
0:04ac6be8229a | 39 | } |
Gary Servin |
0:04ac6be8229a | 40 | |
Gary Servin |
0:04ac6be8229a | 41 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 42 | { |
Gary Servin |
0:04ac6be8229a | 43 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 44 | *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 45 | *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 46 | *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 47 | *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 48 | offset += sizeof(this->transforms_length); |
Gary Servin |
0:04ac6be8229a | 49 | for( uint32_t i = 0; i < transforms_length; i++){ |
Gary Servin |
0:04ac6be8229a | 50 | offset += this->transforms[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 51 | } |
Gary Servin |
0:04ac6be8229a | 52 | *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 53 | *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 54 | *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 55 | *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 56 | offset += sizeof(this->velocities_length); |
Gary Servin |
0:04ac6be8229a | 57 | for( uint32_t i = 0; i < velocities_length; i++){ |
Gary Servin |
0:04ac6be8229a | 58 | offset += this->velocities[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 59 | } |
Gary Servin |
0:04ac6be8229a | 60 | *(outbuffer + offset + 0) = (this->accelerations_length >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 61 | *(outbuffer + offset + 1) = (this->accelerations_length >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 62 | *(outbuffer + offset + 2) = (this->accelerations_length >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 63 | *(outbuffer + offset + 3) = (this->accelerations_length >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 64 | offset += sizeof(this->accelerations_length); |
Gary Servin |
0:04ac6be8229a | 65 | for( uint32_t i = 0; i < accelerations_length; i++){ |
Gary Servin |
0:04ac6be8229a | 66 | offset += this->accelerations[i].serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 67 | } |
Gary Servin |
0:04ac6be8229a | 68 | *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 69 | *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 70 | *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 71 | *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 72 | offset += sizeof(this->time_from_start.sec); |
Gary Servin |
0:04ac6be8229a | 73 | *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 74 | *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 75 | *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 76 | *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 77 | offset += sizeof(this->time_from_start.nsec); |
Gary Servin |
0:04ac6be8229a | 78 | return offset; |
Gary Servin |
0:04ac6be8229a | 79 | } |
Gary Servin |
0:04ac6be8229a | 80 | |
Gary Servin |
0:04ac6be8229a | 81 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 82 | { |
Gary Servin |
0:04ac6be8229a | 83 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 84 | uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 85 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 86 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 87 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 88 | offset += sizeof(this->transforms_length); |
Gary Servin |
0:04ac6be8229a | 89 | if(transforms_lengthT > transforms_length) |
Gary Servin |
0:04ac6be8229a | 90 | this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform)); |
Gary Servin |
0:04ac6be8229a | 91 | transforms_length = transforms_lengthT; |
Gary Servin |
0:04ac6be8229a | 92 | for( uint32_t i = 0; i < transforms_length; i++){ |
Gary Servin |
0:04ac6be8229a | 93 | offset += this->st_transforms.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 94 | memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform)); |
Gary Servin |
0:04ac6be8229a | 95 | } |
Gary Servin |
0:04ac6be8229a | 96 | uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 97 | velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 98 | velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 99 | velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 100 | offset += sizeof(this->velocities_length); |
Gary Servin |
0:04ac6be8229a | 101 | if(velocities_lengthT > velocities_length) |
Gary Servin |
0:04ac6be8229a | 102 | this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist)); |
Gary Servin |
0:04ac6be8229a | 103 | velocities_length = velocities_lengthT; |
Gary Servin |
0:04ac6be8229a | 104 | for( uint32_t i = 0; i < velocities_length; i++){ |
Gary Servin |
0:04ac6be8229a | 105 | offset += this->st_velocities.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 106 | memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist)); |
Gary Servin |
0:04ac6be8229a | 107 | } |
Gary Servin |
0:04ac6be8229a | 108 | uint32_t accelerations_lengthT = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 109 | accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 110 | accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 111 | accelerations_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 112 | offset += sizeof(this->accelerations_length); |
Gary Servin |
0:04ac6be8229a | 113 | if(accelerations_lengthT > accelerations_length) |
Gary Servin |
0:04ac6be8229a | 114 | this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist)); |
Gary Servin |
0:04ac6be8229a | 115 | accelerations_length = accelerations_lengthT; |
Gary Servin |
0:04ac6be8229a | 116 | for( uint32_t i = 0; i < accelerations_length; i++){ |
Gary Servin |
0:04ac6be8229a | 117 | offset += this->st_accelerations.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 118 | memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist)); |
Gary Servin |
0:04ac6be8229a | 119 | } |
Gary Servin |
0:04ac6be8229a | 120 | this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 121 | this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 122 | this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 123 | this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 124 | offset += sizeof(this->time_from_start.sec); |
Gary Servin |
0:04ac6be8229a | 125 | this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset))); |
Gary Servin |
0:04ac6be8229a | 126 | this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 127 | this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 128 | this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 129 | offset += sizeof(this->time_from_start.nsec); |
Gary Servin |
0:04ac6be8229a | 130 | return offset; |
Gary Servin |
0:04ac6be8229a | 131 | } |
Gary Servin |
0:04ac6be8229a | 132 | |
Gary Servin |
0:04ac6be8229a | 133 | const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; }; |
Gary Servin |
0:04ac6be8229a | 134 | const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; }; |
Gary Servin |
0:04ac6be8229a | 135 | |
Gary Servin |
0:04ac6be8229a | 136 | }; |
Gary Servin |
0:04ac6be8229a | 137 | |
Gary Servin |
0:04ac6be8229a | 138 | } |
Gary Servin |
0:04ac6be8229a | 139 | #endif |