SingleJointPositionFeedback.h
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00001 #ifndef _ROS_control_msgs_SingleJointPositionFeedback_h
00002 #define _ROS_control_msgs_SingleJointPositionFeedback_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 control_msgs
00011 {
00012 
00013   class SingleJointPositionFeedback : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       float position;
00018       float velocity;
00019       float error;
00020 
00021     virtual int serialize(unsigned char *outbuffer) const
00022     {
00023       int offset = 0;
00024       offset += this->header.serialize(outbuffer + offset);
00025       int32_t * val_position = (int32_t *) &(this->position);
00026       int32_t exp_position = (((*val_position)>>23)&255);
00027       if(exp_position != 0)
00028         exp_position += 1023-127;
00029       int32_t sig_position = *val_position;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = 0;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = (sig_position<<5) & 0xff;
00034       *(outbuffer + offset++) = (sig_position>>3) & 0xff;
00035       *(outbuffer + offset++) = (sig_position>>11) & 0xff;
00036       *(outbuffer + offset++) = ((exp_position<<4) & 0xF0) | ((sig_position>>19)&0x0F);
00037       *(outbuffer + offset++) = (exp_position>>4) & 0x7F;
00038       if(this->position < 0) *(outbuffer + offset -1) |= 0x80;
00039       int32_t * val_velocity = (int32_t *) &(this->velocity);
00040       int32_t exp_velocity = (((*val_velocity)>>23)&255);
00041       if(exp_velocity != 0)
00042         exp_velocity += 1023-127;
00043       int32_t sig_velocity = *val_velocity;
00044       *(outbuffer + offset++) = 0;
00045       *(outbuffer + offset++) = 0;
00046       *(outbuffer + offset++) = 0;
00047       *(outbuffer + offset++) = (sig_velocity<<5) & 0xff;
00048       *(outbuffer + offset++) = (sig_velocity>>3) & 0xff;
00049       *(outbuffer + offset++) = (sig_velocity>>11) & 0xff;
00050       *(outbuffer + offset++) = ((exp_velocity<<4) & 0xF0) | ((sig_velocity>>19)&0x0F);
00051       *(outbuffer + offset++) = (exp_velocity>>4) & 0x7F;
00052       if(this->velocity < 0) *(outbuffer + offset -1) |= 0x80;
00053       int32_t * val_error = (int32_t *) &(this->error);
00054       int32_t exp_error = (((*val_error)>>23)&255);
00055       if(exp_error != 0)
00056         exp_error += 1023-127;
00057       int32_t sig_error = *val_error;
00058       *(outbuffer + offset++) = 0;
00059       *(outbuffer + offset++) = 0;
00060       *(outbuffer + offset++) = 0;
00061       *(outbuffer + offset++) = (sig_error<<5) & 0xff;
00062       *(outbuffer + offset++) = (sig_error>>3) & 0xff;
00063       *(outbuffer + offset++) = (sig_error>>11) & 0xff;
00064       *(outbuffer + offset++) = ((exp_error<<4) & 0xF0) | ((sig_error>>19)&0x0F);
00065       *(outbuffer + offset++) = (exp_error>>4) & 0x7F;
00066       if(this->error < 0) *(outbuffer + offset -1) |= 0x80;
00067       return offset;
00068     }
00069 
00070     virtual int deserialize(unsigned char *inbuffer)
00071     {
00072       int offset = 0;
00073       offset += this->header.deserialize(inbuffer + offset);
00074       uint32_t * val_position = (uint32_t*) &(this->position);
00075       offset += 3;
00076       *val_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00077       *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00078       *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00079       *val_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00080       uint32_t exp_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00081       exp_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00082       if(exp_position !=0)
00083         *val_position |= ((exp_position)-1023+127)<<23;
00084       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position = -this->position;
00085       uint32_t * val_velocity = (uint32_t*) &(this->velocity);
00086       offset += 3;
00087       *val_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00088       *val_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00089       *val_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00090       *val_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00091       uint32_t exp_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00092       exp_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00093       if(exp_velocity !=0)
00094         *val_velocity |= ((exp_velocity)-1023+127)<<23;
00095       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->velocity = -this->velocity;
00096       uint32_t * val_error = (uint32_t*) &(this->error);
00097       offset += 3;
00098       *val_error = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00099       *val_error |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00100       *val_error |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00101       *val_error |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00102       uint32_t exp_error = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00103       exp_error |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00104       if(exp_error !=0)
00105         *val_error |= ((exp_error)-1023+127)<<23;
00106       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->error = -this->error;
00107      return offset;
00108     }
00109 
00110     const char * getType(){ return "control_msgs/SingleJointPositionFeedback"; };
00111     const char * getMD5(){ return "8cee65610a3d08e0a1bded82f146f1fd"; };
00112 
00113   };
00114 
00115 }
00116 #endif


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