MultiDOFJointTrajectory.h
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00001 #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
00002 #define _ROS_trajectory_msgs_MultiDOFJointTrajectory_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 "trajectory_msgs/MultiDOFJointTrajectoryPoint.h"
00010 
00011 namespace trajectory_msgs
00012 {
00013 
00014   class MultiDOFJointTrajectory : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       uint8_t joint_names_length;
00019       char* st_joint_names;
00020       char* * joint_names;
00021       uint8_t points_length;
00022       trajectory_msgs::MultiDOFJointTrajectoryPoint st_points;
00023       trajectory_msgs::MultiDOFJointTrajectoryPoint * points;
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       offset += this->header.serialize(outbuffer + offset);
00029       *(outbuffer + offset++) = joint_names_length;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = 0;
00032       *(outbuffer + offset++) = 0;
00033       for( uint8_t i = 0; i < joint_names_length; i++){
00034       uint32_t length_joint_namesi = strlen( (const char*) this->joint_names[i]);
00035       memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
00036       offset += 4;
00037       memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
00038       offset += length_joint_namesi;
00039       }
00040       *(outbuffer + offset++) = points_length;
00041       *(outbuffer + offset++) = 0;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       for( uint8_t i = 0; i < points_length; i++){
00045       offset += this->points[i].serialize(outbuffer + offset);
00046       }
00047       return offset;
00048     }
00049 
00050     virtual int deserialize(unsigned char *inbuffer)
00051     {
00052       int offset = 0;
00053       offset += this->header.deserialize(inbuffer + offset);
00054       uint8_t joint_names_lengthT = *(inbuffer + offset++);
00055       if(joint_names_lengthT > joint_names_length)
00056         this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
00057       offset += 3;
00058       joint_names_length = joint_names_lengthT;
00059       for( uint8_t i = 0; i < joint_names_length; i++){
00060       uint32_t length_st_joint_names;
00061       memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
00062       offset += 4;
00063       for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
00064           inbuffer[k-1]=inbuffer[k];
00065       }
00066       inbuffer[offset+length_st_joint_names-1]=0;
00067       this->st_joint_names = (char *)(inbuffer + offset-1);
00068       offset += length_st_joint_names;
00069         memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
00070       }
00071       uint8_t points_lengthT = *(inbuffer + offset++);
00072       if(points_lengthT > points_length)
00073         this->points = (trajectory_msgs::MultiDOFJointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
00074       offset += 3;
00075       points_length = points_lengthT;
00076       for( uint8_t i = 0; i < points_length; i++){
00077       offset += this->st_points.deserialize(inbuffer + offset);
00078         memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
00079       }
00080      return offset;
00081     }
00082 
00083     const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectory"; };
00084     const char * getMD5(){ return "ef145a45a5f47b77b7f5cdde4b16c942"; };
00085 
00086   };
00087 
00088 }
00089 #endif


lizi_arduino
Author(s): RoboTiCan
autogenerated on Wed Aug 26 2015 12:24:22