00001 #ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h 00002 #define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "geometry_msgs/Transform.h" 00009 #include "geometry_msgs/Twist.h" 00010 #include "ros/duration.h" 00011 00012 namespace trajectory_msgs 00013 { 00014 00015 class MultiDOFJointTrajectoryPoint : public ros::Msg 00016 { 00017 public: 00018 uint8_t transforms_length; 00019 geometry_msgs::Transform st_transforms; 00020 geometry_msgs::Transform * transforms; 00021 uint8_t velocities_length; 00022 geometry_msgs::Twist st_velocities; 00023 geometry_msgs::Twist * velocities; 00024 uint8_t accelerations_length; 00025 geometry_msgs::Twist st_accelerations; 00026 geometry_msgs::Twist * accelerations; 00027 ros::Duration time_from_start; 00028 00029 virtual int serialize(unsigned char *outbuffer) const 00030 { 00031 int offset = 0; 00032 *(outbuffer + offset++) = transforms_length; 00033 *(outbuffer + offset++) = 0; 00034 *(outbuffer + offset++) = 0; 00035 *(outbuffer + offset++) = 0; 00036 for( uint8_t i = 0; i < transforms_length; i++){ 00037 offset += this->transforms[i].serialize(outbuffer + offset); 00038 } 00039 *(outbuffer + offset++) = velocities_length; 00040 *(outbuffer + offset++) = 0; 00041 *(outbuffer + offset++) = 0; 00042 *(outbuffer + offset++) = 0; 00043 for( uint8_t i = 0; i < velocities_length; i++){ 00044 offset += this->velocities[i].serialize(outbuffer + offset); 00045 } 00046 *(outbuffer + offset++) = accelerations_length; 00047 *(outbuffer + offset++) = 0; 00048 *(outbuffer + offset++) = 0; 00049 *(outbuffer + offset++) = 0; 00050 for( uint8_t i = 0; i < accelerations_length; i++){ 00051 offset += this->accelerations[i].serialize(outbuffer + offset); 00052 } 00053 *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF; 00054 *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF; 00055 *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF; 00056 *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF; 00057 offset += sizeof(this->time_from_start.sec); 00058 *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF; 00059 *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF; 00060 *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF; 00061 *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF; 00062 offset += sizeof(this->time_from_start.nsec); 00063 return offset; 00064 } 00065 00066 virtual int deserialize(unsigned char *inbuffer) 00067 { 00068 int offset = 0; 00069 uint8_t transforms_lengthT = *(inbuffer + offset++); 00070 if(transforms_lengthT > transforms_length) 00071 this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform)); 00072 offset += 3; 00073 transforms_length = transforms_lengthT; 00074 for( uint8_t i = 0; i < transforms_length; i++){ 00075 offset += this->st_transforms.deserialize(inbuffer + offset); 00076 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform)); 00077 } 00078 uint8_t velocities_lengthT = *(inbuffer + offset++); 00079 if(velocities_lengthT > velocities_length) 00080 this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist)); 00081 offset += 3; 00082 velocities_length = velocities_lengthT; 00083 for( uint8_t i = 0; i < velocities_length; i++){ 00084 offset += this->st_velocities.deserialize(inbuffer + offset); 00085 memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist)); 00086 } 00087 uint8_t accelerations_lengthT = *(inbuffer + offset++); 00088 if(accelerations_lengthT > accelerations_length) 00089 this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist)); 00090 offset += 3; 00091 accelerations_length = accelerations_lengthT; 00092 for( uint8_t i = 0; i < accelerations_length; i++){ 00093 offset += this->st_accelerations.deserialize(inbuffer + offset); 00094 memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist)); 00095 } 00096 this->time_from_start.sec = ((uint32_t) (*(inbuffer + offset))); 00097 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00098 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00099 this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00100 offset += sizeof(this->time_from_start.sec); 00101 this->time_from_start.nsec = ((uint32_t) (*(inbuffer + offset))); 00102 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00103 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00104 this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00105 offset += sizeof(this->time_from_start.nsec); 00106 return offset; 00107 } 00108 00109 const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; }; 00110 const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; }; 00111 00112 }; 00113 00114 } 00115 #endif