Go to the documentation of this file.00001 #ifndef _ROS_control_msgs_GripperCommand_h
00002 #define _ROS_control_msgs_GripperCommand_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008
00009 namespace control_msgs
00010 {
00011
00012 class GripperCommand : public ros::Msg
00013 {
00014 public:
00015 float position;
00016 float max_effort;
00017
00018 virtual int serialize(unsigned char *outbuffer) const
00019 {
00020 int offset = 0;
00021 int32_t * val_position = (int32_t *) &(this->position);
00022 int32_t exp_position = (((*val_position)>>23)&255);
00023 if(exp_position != 0)
00024 exp_position += 1023-127;
00025 int32_t sig_position = *val_position;
00026 *(outbuffer + offset++) = 0;
00027 *(outbuffer + offset++) = 0;
00028 *(outbuffer + offset++) = 0;
00029 *(outbuffer + offset++) = (sig_position<<5) & 0xff;
00030 *(outbuffer + offset++) = (sig_position>>3) & 0xff;
00031 *(outbuffer + offset++) = (sig_position>>11) & 0xff;
00032 *(outbuffer + offset++) = ((exp_position<<4) & 0xF0) | ((sig_position>>19)&0x0F);
00033 *(outbuffer + offset++) = (exp_position>>4) & 0x7F;
00034 if(this->position < 0) *(outbuffer + offset -1) |= 0x80;
00035 int32_t * val_max_effort = (int32_t *) &(this->max_effort);
00036 int32_t exp_max_effort = (((*val_max_effort)>>23)&255);
00037 if(exp_max_effort != 0)
00038 exp_max_effort += 1023-127;
00039 int32_t sig_max_effort = *val_max_effort;
00040 *(outbuffer + offset++) = 0;
00041 *(outbuffer + offset++) = 0;
00042 *(outbuffer + offset++) = 0;
00043 *(outbuffer + offset++) = (sig_max_effort<<5) & 0xff;
00044 *(outbuffer + offset++) = (sig_max_effort>>3) & 0xff;
00045 *(outbuffer + offset++) = (sig_max_effort>>11) & 0xff;
00046 *(outbuffer + offset++) = ((exp_max_effort<<4) & 0xF0) | ((sig_max_effort>>19)&0x0F);
00047 *(outbuffer + offset++) = (exp_max_effort>>4) & 0x7F;
00048 if(this->max_effort < 0) *(outbuffer + offset -1) |= 0x80;
00049 return offset;
00050 }
00051
00052 virtual int deserialize(unsigned char *inbuffer)
00053 {
00054 int offset = 0;
00055 uint32_t * val_position = (uint32_t*) &(this->position);
00056 offset += 3;
00057 *val_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00058 *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00059 *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00060 *val_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00061 uint32_t exp_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00062 exp_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00063 if(exp_position !=0)
00064 *val_position |= ((exp_position)-1023+127)<<23;
00065 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position = -this->position;
00066 uint32_t * val_max_effort = (uint32_t*) &(this->max_effort);
00067 offset += 3;
00068 *val_max_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00069 *val_max_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00070 *val_max_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00071 *val_max_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00072 uint32_t exp_max_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00073 exp_max_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00074 if(exp_max_effort !=0)
00075 *val_max_effort |= ((exp_max_effort)-1023+127)<<23;
00076 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->max_effort = -this->max_effort;
00077 return offset;
00078 }
00079
00080 const char * getType(){ return "control_msgs/GripperCommand"; };
00081 const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
00082
00083 };
00084
00085 }
00086 #endif