Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
JointTrajectoryControllerState.h
00001 #ifndef _ROS_control_msgs_JointTrajectoryControllerState_h 00002 #define _ROS_control_msgs_JointTrajectoryControllerState_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "trajectory_msgs/JointTrajectoryPoint.h" 00010 00011 namespace control_msgs 00012 { 00013 00014 class JointTrajectoryControllerState : public ros::Msg 00015 { 00016 public: 00017 typedef std_msgs::Header _header_type; 00018 _header_type header; 00019 uint32_t joint_names_length; 00020 typedef char* _joint_names_type; 00021 _joint_names_type st_joint_names; 00022 _joint_names_type * joint_names; 00023 typedef trajectory_msgs::JointTrajectoryPoint _desired_type; 00024 _desired_type desired; 00025 typedef trajectory_msgs::JointTrajectoryPoint _actual_type; 00026 _actual_type actual; 00027 typedef trajectory_msgs::JointTrajectoryPoint _error_type; 00028 _error_type error; 00029 00030 JointTrajectoryControllerState(): 00031 header(), 00032 joint_names_length(0), joint_names(NULL), 00033 desired(), 00034 actual(), 00035 error() 00036 { 00037 } 00038 00039 virtual int serialize(unsigned char *outbuffer) const 00040 { 00041 int offset = 0; 00042 offset += this->header.serialize(outbuffer + offset); 00043 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; 00044 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; 00045 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; 00046 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; 00047 offset += sizeof(this->joint_names_length); 00048 for( uint32_t i = 0; i < joint_names_length; i++){ 00049 uint32_t length_joint_namesi = strlen(this->joint_names[i]); 00050 varToArr(outbuffer + offset, length_joint_namesi); 00051 offset += 4; 00052 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); 00053 offset += length_joint_namesi; 00054 } 00055 offset += this->desired.serialize(outbuffer + offset); 00056 offset += this->actual.serialize(outbuffer + offset); 00057 offset += this->error.serialize(outbuffer + offset); 00058 return offset; 00059 } 00060 00061 virtual int deserialize(unsigned char *inbuffer) 00062 { 00063 int offset = 0; 00064 offset += this->header.deserialize(inbuffer + offset); 00065 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 00066 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00067 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00068 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00069 offset += sizeof(this->joint_names_length); 00070 if(joint_names_lengthT > joint_names_length) 00071 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); 00072 joint_names_length = joint_names_lengthT; 00073 for( uint32_t i = 0; i < joint_names_length; i++){ 00074 uint32_t length_st_joint_names; 00075 arrToVar(length_st_joint_names, (inbuffer + offset)); 00076 offset += 4; 00077 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ 00078 inbuffer[k-1]=inbuffer[k]; 00079 } 00080 inbuffer[offset+length_st_joint_names-1]=0; 00081 this->st_joint_names = (char *)(inbuffer + offset-1); 00082 offset += length_st_joint_names; 00083 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); 00084 } 00085 offset += this->desired.deserialize(inbuffer + offset); 00086 offset += this->actual.deserialize(inbuffer + offset); 00087 offset += this->error.deserialize(inbuffer + offset); 00088 return offset; 00089 } 00090 00091 const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; }; 00092 const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; }; 00093 00094 }; 00095 00096 } 00097 #endif
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