hairo
Dependencies: mbed BufferedSerial
control_msgs/JointControllerState.h
- Committer:
- tknara
- Date:
- 2018-12-04
- Revision:
- 4:bcdd99711326
- Parent:
- 0:9e9b7db60fd5
File content as of revision 4:bcdd99711326:
#ifndef _ROS_control_msgs_JointControllerState_h #define _ROS_control_msgs_JointControllerState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace control_msgs { class JointControllerState : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef double _set_point_type; _set_point_type set_point; typedef double _process_value_type; _process_value_type process_value; typedef double _process_value_dot_type; _process_value_dot_type process_value_dot; typedef double _error_type; _error_type error; typedef double _time_step_type; _time_step_type time_step; typedef double _command_type; _command_type command; 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; JointControllerState(): header(), set_point(0), process_value(0), process_value_dot(0), error(0), time_step(0), command(0), p(0), i(0), d(0), i_clamp(0), antiwindup(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); union { double real; uint64_t base; } u_set_point; u_set_point.real = this->set_point; *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF; offset += sizeof(this->set_point); union { double real; uint64_t base; } u_process_value; u_process_value.real = this->process_value; *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF; offset += sizeof(this->process_value); union { double real; uint64_t base; } u_process_value_dot; u_process_value_dot.real = this->process_value_dot; *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF; offset += sizeof(this->process_value_dot); union { double real; uint64_t base; } u_error; u_error.real = this->error; *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF; offset += sizeof(this->error); union { double real; uint64_t base; } u_time_step; u_time_step.real = this->time_step; *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF; offset += sizeof(this->time_step); union { double real; uint64_t base; } u_command; u_command.real = this->command; *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF; offset += sizeof(this->command); 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; offset += this->header.deserialize(inbuffer + offset); union { double real; uint64_t base; } u_set_point; u_set_point.base = 0; u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->set_point = u_set_point.real; offset += sizeof(this->set_point); union { double real; uint64_t base; } u_process_value; u_process_value.base = 0; u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->process_value = u_process_value.real; offset += sizeof(this->process_value); union { double real; uint64_t base; } u_process_value_dot; u_process_value_dot.base = 0; u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->process_value_dot = u_process_value_dot.real; offset += sizeof(this->process_value_dot); union { double real; uint64_t base; } u_error; u_error.base = 0; u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->error = u_error.real; offset += sizeof(this->error); union { double real; uint64_t base; } u_time_step; u_time_step.base = 0; u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->time_step = u_time_step.real; offset += sizeof(this->time_step); union { double real; uint64_t base; } u_command; u_command.base = 0; u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->command = u_command.real; offset += sizeof(this->command); 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 "control_msgs/JointControllerState"; }; const char * getMD5(){ return "987ad85e4756f3aef7f1e5e7fe0595d1"; }; }; } #endif