Go to the documentation of this file.00001 #ifndef _ROS_control_msgs_SingleJointPositionGoal_h
00002 #define _ROS_control_msgs_SingleJointPositionGoal_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "ros/duration.h"
00009
00010 namespace control_msgs
00011 {
00012
00013 class SingleJointPositionGoal : public ros::Msg
00014 {
00015 public:
00016 float position;
00017 ros::Duration min_duration;
00018 float max_velocity;
00019
00020 virtual int serialize(unsigned char *outbuffer) const
00021 {
00022 int offset = 0;
00023 int32_t * val_position = (int32_t *) &(this->position);
00024 int32_t exp_position = (((*val_position)>>23)&255);
00025 if(exp_position != 0)
00026 exp_position += 1023-127;
00027 int32_t sig_position = *val_position;
00028 *(outbuffer + offset++) = 0;
00029 *(outbuffer + offset++) = 0;
00030 *(outbuffer + offset++) = 0;
00031 *(outbuffer + offset++) = (sig_position<<5) & 0xff;
00032 *(outbuffer + offset++) = (sig_position>>3) & 0xff;
00033 *(outbuffer + offset++) = (sig_position>>11) & 0xff;
00034 *(outbuffer + offset++) = ((exp_position<<4) & 0xF0) | ((sig_position>>19)&0x0F);
00035 *(outbuffer + offset++) = (exp_position>>4) & 0x7F;
00036 if(this->position < 0) *(outbuffer + offset -1) |= 0x80;
00037 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
00038 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
00039 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
00040 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
00041 offset += sizeof(this->min_duration.sec);
00042 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
00043 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
00044 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
00045 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
00046 offset += sizeof(this->min_duration.nsec);
00047 int32_t * val_max_velocity = (int32_t *) &(this->max_velocity);
00048 int32_t exp_max_velocity = (((*val_max_velocity)>>23)&255);
00049 if(exp_max_velocity != 0)
00050 exp_max_velocity += 1023-127;
00051 int32_t sig_max_velocity = *val_max_velocity;
00052 *(outbuffer + offset++) = 0;
00053 *(outbuffer + offset++) = 0;
00054 *(outbuffer + offset++) = 0;
00055 *(outbuffer + offset++) = (sig_max_velocity<<5) & 0xff;
00056 *(outbuffer + offset++) = (sig_max_velocity>>3) & 0xff;
00057 *(outbuffer + offset++) = (sig_max_velocity>>11) & 0xff;
00058 *(outbuffer + offset++) = ((exp_max_velocity<<4) & 0xF0) | ((sig_max_velocity>>19)&0x0F);
00059 *(outbuffer + offset++) = (exp_max_velocity>>4) & 0x7F;
00060 if(this->max_velocity < 0) *(outbuffer + offset -1) |= 0x80;
00061 return offset;
00062 }
00063
00064 virtual int deserialize(unsigned char *inbuffer)
00065 {
00066 int offset = 0;
00067 uint32_t * val_position = (uint32_t*) &(this->position);
00068 offset += 3;
00069 *val_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00070 *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00071 *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00072 *val_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00073 uint32_t exp_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00074 exp_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00075 if(exp_position !=0)
00076 *val_position |= ((exp_position)-1023+127)<<23;
00077 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position = -this->position;
00078 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
00079 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00080 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00081 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00082 offset += sizeof(this->min_duration.sec);
00083 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
00084 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00085 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00086 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00087 offset += sizeof(this->min_duration.nsec);
00088 uint32_t * val_max_velocity = (uint32_t*) &(this->max_velocity);
00089 offset += 3;
00090 *val_max_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00091 *val_max_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00092 *val_max_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00093 *val_max_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00094 uint32_t exp_max_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00095 exp_max_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00096 if(exp_max_velocity !=0)
00097 *val_max_velocity |= ((exp_max_velocity)-1023+127)<<23;
00098 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->max_velocity = -this->max_velocity;
00099 return offset;
00100 }
00101
00102 const char * getType(){ return "control_msgs/SingleJointPositionGoal"; };
00103 const char * getMD5(){ return "fbaaa562a23a013fd5053e5f72cbb35c"; };
00104
00105 };
00106
00107 }
00108 #endif