00001 #ifndef _ROS_control_msgs_JointTrajectoryControllerState_h 00002 #define _ROS_control_msgs_JointTrajectoryControllerState_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/JointTrajectoryPoint.h" 00010 00011 namespace control_msgs 00012 { 00013 00014 class JointTrajectoryControllerState : 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 trajectory_msgs::JointTrajectoryPoint desired; 00022 trajectory_msgs::JointTrajectoryPoint actual; 00023 trajectory_msgs::JointTrajectoryPoint error; 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(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 offset += this->desired.serialize(outbuffer + offset); 00041 offset += this->actual.serialize(outbuffer + offset); 00042 offset += this->error.serialize(outbuffer + offset); 00043 return offset; 00044 } 00045 00046 virtual int deserialize(unsigned char *inbuffer) 00047 { 00048 int offset = 0; 00049 offset += this->header.deserialize(inbuffer + offset); 00050 uint8_t joint_names_lengthT = *(inbuffer + offset++); 00051 if(joint_names_lengthT > joint_names_length) 00052 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); 00053 offset += 3; 00054 joint_names_length = joint_names_lengthT; 00055 for( uint8_t i = 0; i < joint_names_length; i++){ 00056 uint32_t length_st_joint_names; 00057 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t)); 00058 offset += 4; 00059 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ 00060 inbuffer[k-1]=inbuffer[k]; 00061 } 00062 inbuffer[offset+length_st_joint_names-1]=0; 00063 this->st_joint_names = (char *)(inbuffer + offset-1); 00064 offset += length_st_joint_names; 00065 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); 00066 } 00067 offset += this->desired.deserialize(inbuffer + offset); 00068 offset += this->actual.deserialize(inbuffer + offset); 00069 offset += this->error.deserialize(inbuffer + offset); 00070 return offset; 00071 } 00072 00073 const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; }; 00074 const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; }; 00075 00076 }; 00077 00078 } 00079 #endif