Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
MultiDOFJointState.h
00001 #ifndef _ROS_sensor_msgs_MultiDOFJointState_h 00002 #define _ROS_sensor_msgs_MultiDOFJointState_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 "geometry_msgs/Transform.h" 00010 #include "geometry_msgs/Twist.h" 00011 #include "geometry_msgs/Wrench.h" 00012 00013 namespace sensor_msgs 00014 { 00015 00016 class MultiDOFJointState : public ros::Msg 00017 { 00018 public: 00019 typedef std_msgs::Header _header_type; 00020 _header_type header; 00021 uint32_t joint_names_length; 00022 typedef char* _joint_names_type; 00023 _joint_names_type st_joint_names; 00024 _joint_names_type * joint_names; 00025 uint32_t transforms_length; 00026 typedef geometry_msgs::Transform _transforms_type; 00027 _transforms_type st_transforms; 00028 _transforms_type * transforms; 00029 uint32_t twist_length; 00030 typedef geometry_msgs::Twist _twist_type; 00031 _twist_type st_twist; 00032 _twist_type * twist; 00033 uint32_t wrench_length; 00034 typedef geometry_msgs::Wrench _wrench_type; 00035 _wrench_type st_wrench; 00036 _wrench_type * wrench; 00037 00038 MultiDOFJointState(): 00039 header(), 00040 joint_names_length(0), joint_names(NULL), 00041 transforms_length(0), transforms(NULL), 00042 twist_length(0), twist(NULL), 00043 wrench_length(0), wrench(NULL) 00044 { 00045 } 00046 00047 virtual int serialize(unsigned char *outbuffer) const 00048 { 00049 int offset = 0; 00050 offset += this->header.serialize(outbuffer + offset); 00051 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; 00052 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; 00053 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; 00054 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; 00055 offset += sizeof(this->joint_names_length); 00056 for( uint32_t i = 0; i < joint_names_length; i++){ 00057 uint32_t length_joint_namesi = strlen(this->joint_names[i]); 00058 varToArr(outbuffer + offset, length_joint_namesi); 00059 offset += 4; 00060 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); 00061 offset += length_joint_namesi; 00062 } 00063 *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; 00064 *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; 00065 *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; 00066 *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; 00067 offset += sizeof(this->transforms_length); 00068 for( uint32_t i = 0; i < transforms_length; i++){ 00069 offset += this->transforms[i].serialize(outbuffer + offset); 00070 } 00071 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF; 00072 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF; 00073 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF; 00074 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF; 00075 offset += sizeof(this->twist_length); 00076 for( uint32_t i = 0; i < twist_length; i++){ 00077 offset += this->twist[i].serialize(outbuffer + offset); 00078 } 00079 *(outbuffer + offset + 0) = (this->wrench_length >> (8 * 0)) & 0xFF; 00080 *(outbuffer + offset + 1) = (this->wrench_length >> (8 * 1)) & 0xFF; 00081 *(outbuffer + offset + 2) = (this->wrench_length >> (8 * 2)) & 0xFF; 00082 *(outbuffer + offset + 3) = (this->wrench_length >> (8 * 3)) & 0xFF; 00083 offset += sizeof(this->wrench_length); 00084 for( uint32_t i = 0; i < wrench_length; i++){ 00085 offset += this->wrench[i].serialize(outbuffer + offset); 00086 } 00087 return offset; 00088 } 00089 00090 virtual int deserialize(unsigned char *inbuffer) 00091 { 00092 int offset = 0; 00093 offset += this->header.deserialize(inbuffer + offset); 00094 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 00095 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00096 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00097 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00098 offset += sizeof(this->joint_names_length); 00099 if(joint_names_lengthT > joint_names_length) 00100 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); 00101 joint_names_length = joint_names_lengthT; 00102 for( uint32_t i = 0; i < joint_names_length; i++){ 00103 uint32_t length_st_joint_names; 00104 arrToVar(length_st_joint_names, (inbuffer + offset)); 00105 offset += 4; 00106 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ 00107 inbuffer[k-1]=inbuffer[k]; 00108 } 00109 inbuffer[offset+length_st_joint_names-1]=0; 00110 this->st_joint_names = (char *)(inbuffer + offset-1); 00111 offset += length_st_joint_names; 00112 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); 00113 } 00114 uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 00115 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00116 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00117 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00118 offset += sizeof(this->transforms_length); 00119 if(transforms_lengthT > transforms_length) 00120 this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform)); 00121 transforms_length = transforms_lengthT; 00122 for( uint32_t i = 0; i < transforms_length; i++){ 00123 offset += this->st_transforms.deserialize(inbuffer + offset); 00124 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform)); 00125 } 00126 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); 00127 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00128 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00129 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00130 offset += sizeof(this->twist_length); 00131 if(twist_lengthT > twist_length) 00132 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist)); 00133 twist_length = twist_lengthT; 00134 for( uint32_t i = 0; i < twist_length; i++){ 00135 offset += this->st_twist.deserialize(inbuffer + offset); 00136 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist)); 00137 } 00138 uint32_t wrench_lengthT = ((uint32_t) (*(inbuffer + offset))); 00139 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00140 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00141 wrench_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00142 offset += sizeof(this->wrench_length); 00143 if(wrench_lengthT > wrench_length) 00144 this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench)); 00145 wrench_length = wrench_lengthT; 00146 for( uint32_t i = 0; i < wrench_length; i++){ 00147 offset += this->st_wrench.deserialize(inbuffer + offset); 00148 memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench)); 00149 } 00150 return offset; 00151 } 00152 00153 const char * getType(){ return "sensor_msgs/MultiDOFJointState"; }; 00154 const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; }; 00155 00156 }; 00157 00158 } 00159 #endif
Generated on Tue Jul 12 2022 18:49:19 by 1.7.2