Go to the documentation of this file.00001 #ifndef _ROS_control_msgs_PointHeadGoal_h
00002 #define _ROS_control_msgs_PointHeadGoal_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "geometry_msgs/PointStamped.h"
00009 #include "geometry_msgs/Vector3.h"
00010 #include "ros/duration.h"
00011
00012 namespace control_msgs
00013 {
00014
00015 class PointHeadGoal : public ros::Msg
00016 {
00017 public:
00018 geometry_msgs::PointStamped target;
00019 geometry_msgs::Vector3 pointing_axis;
00020 const char* pointing_frame;
00021 ros::Duration min_duration;
00022 float max_velocity;
00023
00024 virtual int serialize(unsigned char *outbuffer) const
00025 {
00026 int offset = 0;
00027 offset += this->target.serialize(outbuffer + offset);
00028 offset += this->pointing_axis.serialize(outbuffer + offset);
00029 uint32_t length_pointing_frame = strlen(this->pointing_frame);
00030 memcpy(outbuffer + offset, &length_pointing_frame, sizeof(uint32_t));
00031 offset += 4;
00032 memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
00033 offset += length_pointing_frame;
00034 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
00035 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
00036 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
00037 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
00038 offset += sizeof(this->min_duration.sec);
00039 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
00040 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
00041 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
00042 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
00043 offset += sizeof(this->min_duration.nsec);
00044 int32_t * val_max_velocity = (int32_t *) &(this->max_velocity);
00045 int32_t exp_max_velocity = (((*val_max_velocity)>>23)&255);
00046 if(exp_max_velocity != 0)
00047 exp_max_velocity += 1023-127;
00048 int32_t sig_max_velocity = *val_max_velocity;
00049 *(outbuffer + offset++) = 0;
00050 *(outbuffer + offset++) = 0;
00051 *(outbuffer + offset++) = 0;
00052 *(outbuffer + offset++) = (sig_max_velocity<<5) & 0xff;
00053 *(outbuffer + offset++) = (sig_max_velocity>>3) & 0xff;
00054 *(outbuffer + offset++) = (sig_max_velocity>>11) & 0xff;
00055 *(outbuffer + offset++) = ((exp_max_velocity<<4) & 0xF0) | ((sig_max_velocity>>19)&0x0F);
00056 *(outbuffer + offset++) = (exp_max_velocity>>4) & 0x7F;
00057 if(this->max_velocity < 0) *(outbuffer + offset -1) |= 0x80;
00058 return offset;
00059 }
00060
00061 virtual int deserialize(unsigned char *inbuffer)
00062 {
00063 int offset = 0;
00064 offset += this->target.deserialize(inbuffer + offset);
00065 offset += this->pointing_axis.deserialize(inbuffer + offset);
00066 uint32_t length_pointing_frame;
00067 memcpy(&length_pointing_frame, (inbuffer + offset), sizeof(uint32_t));
00068 offset += 4;
00069 for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
00070 inbuffer[k-1]=inbuffer[k];
00071 }
00072 inbuffer[offset+length_pointing_frame-1]=0;
00073 this->pointing_frame = (char *)(inbuffer + offset-1);
00074 offset += length_pointing_frame;
00075 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
00076 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00077 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00078 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00079 offset += sizeof(this->min_duration.sec);
00080 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
00081 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00082 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00083 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00084 offset += sizeof(this->min_duration.nsec);
00085 uint32_t * val_max_velocity = (uint32_t*) &(this->max_velocity);
00086 offset += 3;
00087 *val_max_velocity = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00088 *val_max_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00089 *val_max_velocity |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00090 *val_max_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00091 uint32_t exp_max_velocity = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00092 exp_max_velocity |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00093 if(exp_max_velocity !=0)
00094 *val_max_velocity |= ((exp_max_velocity)-1023+127)<<23;
00095 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->max_velocity = -this->max_velocity;
00096 return offset;
00097 }
00098
00099 const char * getType(){ return "control_msgs/PointHeadGoal"; };
00100 const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
00101
00102 };
00103
00104 }
00105 #endif