Go to the documentation of this file.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 unsigned char name_length;
00018 char* st_name;
00019 char* * name;
00020 unsigned char position_length;
00021 float st_position;
00022 float * position;
00023 unsigned char velocity_length;
00024 float st_velocity;
00025 float * velocity;
00026 unsigned char effort_length;
00027 float st_effort;
00028 float * effort;
00029
00030 virtual int serialize(unsigned char *outbuffer)
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( unsigned char i = 0; i < name_length; i++){
00039 long * length_namei = (long *)(outbuffer + offset);
00040 *length_namei = strlen( (const char*) this->name[i]);
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( unsigned char i = 0; i < position_length; i++){
00050 long * val_positioni = (long *) &(this->position[i]);
00051 long exp_positioni = (((*val_positioni)>>23)&255);
00052 if(exp_positioni != 0)
00053 exp_positioni += 1023-127;
00054 long 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( unsigned char i = 0; i < velocity_length; i++){
00070 long * val_velocityi = (long *) &(this->velocity[i]);
00071 long exp_velocityi = (((*val_velocityi)>>23)&255);
00072 if(exp_velocityi != 0)
00073 exp_velocityi += 1023-127;
00074 long 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( unsigned char i = 0; i < effort_length; i++){
00090 long * val_efforti = (long *) &(this->effort[i]);
00091 long exp_efforti = (((*val_efforti)>>23)&255);
00092 if(exp_efforti != 0)
00093 exp_efforti += 1023-127;
00094 long 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 unsigned char 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( unsigned char i = 0; i < name_length; i++){
00118 uint32_t length_st_name = *(uint32_t *)(inbuffer + offset);
00119 offset += 4;
00120 for(unsigned int k= offset; k< offset+length_st_name; ++k){
00121 inbuffer[k-1]=inbuffer[k];
00122 }
00123 inbuffer[offset+length_st_name-1]=0;
00124 this->st_name = (char *)(inbuffer + offset-1);
00125 offset += length_st_name;
00126 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
00127 }
00128 unsigned char position_lengthT = *(inbuffer + offset++);
00129 if(position_lengthT > position_length)
00130 this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
00131 offset += 3;
00132 position_length = position_lengthT;
00133 for( unsigned char i = 0; i < position_length; i++){
00134 unsigned long * val_st_position = (unsigned long*) &(this->st_position);
00135 offset += 3;
00136 *val_st_position = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00137 *val_st_position |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00138 *val_st_position |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00139 *val_st_position |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00140 unsigned long exp_st_position = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00141 exp_st_position |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00142 if(exp_st_position !=0)
00143 *val_st_position |= ((exp_st_position)-1023+127)<<23;
00144 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position;
00145 memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
00146 }
00147 unsigned char velocity_lengthT = *(inbuffer + offset++);
00148 if(velocity_lengthT > velocity_length)
00149 this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
00150 offset += 3;
00151 velocity_length = velocity_lengthT;
00152 for( unsigned char i = 0; i < velocity_length; i++){
00153 unsigned long * val_st_velocity = (unsigned long*) &(this->st_velocity);
00154 offset += 3;
00155 *val_st_velocity = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00156 *val_st_velocity |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00157 *val_st_velocity |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00158 *val_st_velocity |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00159 unsigned long exp_st_velocity = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00160 exp_st_velocity |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00161 if(exp_st_velocity !=0)
00162 *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;
00163 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity;
00164 memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
00165 }
00166 unsigned char effort_lengthT = *(inbuffer + offset++);
00167 if(effort_lengthT > effort_length)
00168 this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
00169 offset += 3;
00170 effort_length = effort_lengthT;
00171 for( unsigned char i = 0; i < effort_length; i++){
00172 unsigned long * val_st_effort = (unsigned long*) &(this->st_effort);
00173 offset += 3;
00174 *val_st_effort = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00175 *val_st_effort |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00176 *val_st_effort |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00177 *val_st_effort |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00178 unsigned long exp_st_effort = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00179 exp_st_effort |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00180 if(exp_st_effort !=0)
00181 *val_st_effort |= ((exp_st_effort)-1023+127)<<23;
00182 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort;
00183 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
00184 }
00185 return offset;
00186 }
00187
00188 const char * getType(){ return "sensor_msgs/JointState"; };
00189
00190 };
00191
00192 }
00193 #endif
