JointState.h
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00001 #ifndef _ROS_sensor_msgs_JointState_h
00002 #define _ROS_sensor_msgs_JointState_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 
00010 namespace sensor_msgs
00011 {
00012 
00013   class JointState : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       uint8_t name_length;
00018       char* st_name;
00019       char* * name;
00020       uint8_t position_length;
00021       float st_position;
00022       float * position;
00023       uint8_t velocity_length;
00024       float st_velocity;
00025       float * velocity;
00026       uint8_t effort_length;
00027       float st_effort;
00028       float * effort;
00029 
00030     virtual int serialize(unsigned char *outbuffer) const
00031     {
00032       int offset = 0;
00033       offset += this->header.serialize(outbuffer + offset);
00034       *(outbuffer + offset++) = name_length;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       for( uint8_t i = 0; i < name_length; i++){
00039       uint32_t length_namei = strlen(this->name[i]);
00040       memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
00041       offset += 4;
00042       memcpy(outbuffer + offset, this->name[i], length_namei);
00043       offset += length_namei;
00044       }
00045       *(outbuffer + offset++) = position_length;
00046       *(outbuffer + offset++) = 0;
00047       *(outbuffer + offset++) = 0;
00048       *(outbuffer + offset++) = 0;
00049       for( uint8_t i = 0; i < position_length; i++){
00050       int32_t * val_positioni = (int32_t *) &(this->position[i]);
00051       int32_t exp_positioni = (((*val_positioni)>>23)&255);
00052       if(exp_positioni != 0)
00053         exp_positioni += 1023-127;
00054       int32_t sig_positioni = *val_positioni;
00055       *(outbuffer + offset++) = 0;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = 0;
00058       *(outbuffer + offset++) = (sig_positioni<<5) & 0xff;
00059       *(outbuffer + offset++) = (sig_positioni>>3) & 0xff;
00060       *(outbuffer + offset++) = (sig_positioni>>11) & 0xff;
00061       *(outbuffer + offset++) = ((exp_positioni<<4) & 0xF0) | ((sig_positioni>>19)&0x0F);
00062       *(outbuffer + offset++) = (exp_positioni>>4) & 0x7F;
00063       if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;
00064       }
00065       *(outbuffer + offset++) = velocity_length;
00066       *(outbuffer + offset++) = 0;
00067       *(outbuffer + offset++) = 0;
00068       *(outbuffer + offset++) = 0;
00069       for( uint8_t i = 0; i < velocity_length; i++){
00070       int32_t * val_velocityi = (int32_t *) &(this->velocity[i]);
00071       int32_t exp_velocityi = (((*val_velocityi)>>23)&255);
00072       if(exp_velocityi != 0)
00073         exp_velocityi += 1023-127;
00074       int32_t sig_velocityi = *val_velocityi;
00075       *(outbuffer + offset++) = 0;
00076       *(outbuffer + offset++) = 0;
00077       *(outbuffer + offset++) = 0;
00078       *(outbuffer + offset++) = (sig_velocityi<<5) & 0xff;
00079       *(outbuffer + offset++) = (sig_velocityi>>3) & 0xff;
00080       *(outbuffer + offset++) = (sig_velocityi>>11) & 0xff;
00081       *(outbuffer + offset++) = ((exp_velocityi<<4) & 0xF0) | ((sig_velocityi>>19)&0x0F);
00082       *(outbuffer + offset++) = (exp_velocityi>>4) & 0x7F;
00083       if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;
00084       }
00085       *(outbuffer + offset++) = effort_length;
00086       *(outbuffer + offset++) = 0;
00087       *(outbuffer + offset++) = 0;
00088       *(outbuffer + offset++) = 0;
00089       for( uint8_t i = 0; i < effort_length; i++){
00090       int32_t * val_efforti = (int32_t *) &(this->effort[i]);
00091       int32_t exp_efforti = (((*val_efforti)>>23)&255);
00092       if(exp_efforti != 0)
00093         exp_efforti += 1023-127;
00094       int32_t sig_efforti = *val_efforti;
00095       *(outbuffer + offset++) = 0;
00096       *(outbuffer + offset++) = 0;
00097       *(outbuffer + offset++) = 0;
00098       *(outbuffer + offset++) = (sig_efforti<<5) & 0xff;
00099       *(outbuffer + offset++) = (sig_efforti>>3) & 0xff;
00100       *(outbuffer + offset++) = (sig_efforti>>11) & 0xff;
00101       *(outbuffer + offset++) = ((exp_efforti<<4) & 0xF0) | ((sig_efforti>>19)&0x0F);
00102       *(outbuffer + offset++) = (exp_efforti>>4) & 0x7F;
00103       if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;
00104       }
00105       return offset;
00106     }
00107 
00108     virtual int deserialize(unsigned char *inbuffer)
00109     {
00110       int offset = 0;
00111       offset += this->header.deserialize(inbuffer + offset);
00112       uint8_t name_lengthT = *(inbuffer + offset++);
00113       if(name_lengthT > name_length)
00114         this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
00115       offset += 3;
00116       name_length = name_lengthT;
00117       for( uint8_t i = 0; i < name_length; i++){
00118       uint32_t length_st_name;
00119       memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
00120       offset += 4;
00121       for(unsigned int k= offset; k< offset+length_st_name; ++k){
00122           inbuffer[k-1]=inbuffer[k];
00123       }
00124       inbuffer[offset+length_st_name-1]=0;
00125       this->st_name = (char *)(inbuffer + offset-1);
00126       offset += length_st_name;
00127         memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
00128       }
00129       uint8_t position_lengthT = *(inbuffer + offset++);
00130       if(position_lengthT > position_length)
00131         this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
00132       offset += 3;
00133       position_length = position_lengthT;
00134       for( uint8_t i = 0; i < position_length; i++){
00135       uint32_t * val_st_position = (uint32_t*) &(this->st_position);
00136       offset += 3;
00137       *val_st_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00138       *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00139       *val_st_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00140       *val_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00141       uint32_t exp_st_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00142       exp_st_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00143       if(exp_st_position !=0)
00144         *val_st_position |= ((exp_st_position)-1023+127)<<23;
00145       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position;
00146         memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
00147       }
00148       uint8_t velocity_lengthT = *(inbuffer + offset++);
00149       if(velocity_lengthT > velocity_length)
00150         this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
00151       offset += 3;
00152       velocity_length = velocity_lengthT;
00153       for( uint8_t i = 0; i < velocity_length; i++){
00154       uint32_t * val_st_velocity = (uint32_t*) &(this->st_velocity);
00155       offset += 3;
00156       *val_st_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00157       *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00158       *val_st_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00159       *val_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00160       uint32_t exp_st_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00161       exp_st_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00162       if(exp_st_velocity !=0)
00163         *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;
00164       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity;
00165         memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
00166       }
00167       uint8_t effort_lengthT = *(inbuffer + offset++);
00168       if(effort_lengthT > effort_length)
00169         this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
00170       offset += 3;
00171       effort_length = effort_lengthT;
00172       for( uint8_t i = 0; i < effort_length; i++){
00173       uint32_t * val_st_effort = (uint32_t*) &(this->st_effort);
00174       offset += 3;
00175       *val_st_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00176       *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00177       *val_st_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00178       *val_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00179       uint32_t exp_st_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00180       exp_st_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00181       if(exp_st_effort !=0)
00182         *val_st_effort |= ((exp_st_effort)-1023+127)<<23;
00183       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort;
00184         memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
00185       }
00186      return offset;
00187     }
00188 
00189     const char * getType(){ return "sensor_msgs/JointState"; };
00190     const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
00191 
00192   };
00193 
00194 }
00195 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:55