JointState.h
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00001 #ifndef ros_sensor_msgs_JointState_h
00002 #define ros_sensor_msgs_JointState_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 sensor_msgs
00011 {
00012 
00013   class JointState : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       unsigned char name_length;
00018       char* st_name;
00019       char* * name;
00020       unsigned char position_length;
00021       float st_position;
00022       float * position;
00023       unsigned char velocity_length;
00024       float st_velocity;
00025       float * velocity;
00026       unsigned char effort_length;
00027       float st_effort;
00028       float * effort;
00029 
00030     virtual int serialize(unsigned char *outbuffer)
00031     {
00032       int offset = 0;
00033       offset += this->header.serialize(outbuffer + offset);
00034       *(outbuffer + offset++) = name_length;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       for( unsigned char i = 0; i < name_length; i++){
00039       long * length_namei = (long *)(outbuffer + offset);
00040       *length_namei = strlen( (const char*) this->name[i]);
00041       offset += 4;
00042       memcpy(outbuffer + offset, this->name[i], *length_namei);
00043       offset += *length_namei;
00044       }
00045       *(outbuffer + offset++) = position_length;
00046       *(outbuffer + offset++) = 0;
00047       *(outbuffer + offset++) = 0;
00048       *(outbuffer + offset++) = 0;
00049       for( unsigned char i = 0; i < position_length; i++){
00050       long * val_positioni = (long *) &(this->position[i]);
00051       long exp_positioni = (((*val_positioni)>>23)&255);
00052       if(exp_positioni != 0)
00053         exp_positioni += 1023-127;
00054       long sig_positioni = *val_positioni;
00055       *(outbuffer + offset++) = 0;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = 0;
00058       *(outbuffer + offset++) = (sig_positioni<<5) & 0xff;
00059       *(outbuffer + offset++) = (sig_positioni>>3) & 0xff;
00060       *(outbuffer + offset++) = (sig_positioni>>11) & 0xff;
00061       *(outbuffer + offset++) = ((exp_positioni<<4) & 0xF0) | ((sig_positioni>>19)&0x0F);
00062       *(outbuffer + offset++) = (exp_positioni>>4) & 0x7F;
00063       if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;
00064       }
00065       *(outbuffer + offset++) = velocity_length;
00066       *(outbuffer + offset++) = 0;
00067       *(outbuffer + offset++) = 0;
00068       *(outbuffer + offset++) = 0;
00069       for( unsigned char i = 0; i < velocity_length; i++){
00070       long * val_velocityi = (long *) &(this->velocity[i]);
00071       long exp_velocityi = (((*val_velocityi)>>23)&255);
00072       if(exp_velocityi != 0)
00073         exp_velocityi += 1023-127;
00074       long sig_velocityi = *val_velocityi;
00075       *(outbuffer + offset++) = 0;
00076       *(outbuffer + offset++) = 0;
00077       *(outbuffer + offset++) = 0;
00078       *(outbuffer + offset++) = (sig_velocityi<<5) & 0xff;
00079       *(outbuffer + offset++) = (sig_velocityi>>3) & 0xff;
00080       *(outbuffer + offset++) = (sig_velocityi>>11) & 0xff;
00081       *(outbuffer + offset++) = ((exp_velocityi<<4) & 0xF0) | ((sig_velocityi>>19)&0x0F);
00082       *(outbuffer + offset++) = (exp_velocityi>>4) & 0x7F;
00083       if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;
00084       }
00085       *(outbuffer + offset++) = effort_length;
00086       *(outbuffer + offset++) = 0;
00087       *(outbuffer + offset++) = 0;
00088       *(outbuffer + offset++) = 0;
00089       for( unsigned char i = 0; i < effort_length; i++){
00090       long * val_efforti = (long *) &(this->effort[i]);
00091       long exp_efforti = (((*val_efforti)>>23)&255);
00092       if(exp_efforti != 0)
00093         exp_efforti += 1023-127;
00094       long sig_efforti = *val_efforti;
00095       *(outbuffer + offset++) = 0;
00096       *(outbuffer + offset++) = 0;
00097       *(outbuffer + offset++) = 0;
00098       *(outbuffer + offset++) = (sig_efforti<<5) & 0xff;
00099       *(outbuffer + offset++) = (sig_efforti>>3) & 0xff;
00100       *(outbuffer + offset++) = (sig_efforti>>11) & 0xff;
00101       *(outbuffer + offset++) = ((exp_efforti<<4) & 0xF0) | ((sig_efforti>>19)&0x0F);
00102       *(outbuffer + offset++) = (exp_efforti>>4) & 0x7F;
00103       if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;
00104       }
00105       return offset;
00106     }
00107 
00108     virtual int deserialize(unsigned char *inbuffer)
00109     {
00110       int offset = 0;
00111       offset += this->header.deserialize(inbuffer + offset);
00112       unsigned char name_lengthT = *(inbuffer + offset++);
00113       if(name_lengthT > name_length)
00114         this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
00115       offset += 3;
00116       name_length = name_lengthT;
00117       for( unsigned char i = 0; i < name_length; i++){
00118       uint32_t length_st_name = *(uint32_t *)(inbuffer + offset);
00119       offset += 4;
00120       for(unsigned int k= offset; k< offset+length_st_name; ++k){
00121           inbuffer[k-1]=inbuffer[k];
00122            }
00123       inbuffer[offset+length_st_name-1]=0;
00124       this->st_name = (char *)(inbuffer + offset-1);
00125       offset += length_st_name;
00126         memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
00127       }
00128       unsigned char position_lengthT = *(inbuffer + offset++);
00129       if(position_lengthT > position_length)
00130         this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
00131       offset += 3;
00132       position_length = position_lengthT;
00133       for( unsigned char i = 0; i < position_length; i++){
00134       unsigned long * val_st_position = (unsigned long*) &(this->st_position);
00135       offset += 3;
00136       *val_st_position = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00137       *val_st_position |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00138       *val_st_position |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00139       *val_st_position |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00140       unsigned long exp_st_position = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00141       exp_st_position |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00142       if(exp_st_position !=0)
00143         *val_st_position |= ((exp_st_position)-1023+127)<<23;
00144       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_position = -this->st_position;
00145         memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
00146       }
00147       unsigned char velocity_lengthT = *(inbuffer + offset++);
00148       if(velocity_lengthT > velocity_length)
00149         this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
00150       offset += 3;
00151       velocity_length = velocity_lengthT;
00152       for( unsigned char i = 0; i < velocity_length; i++){
00153       unsigned long * val_st_velocity = (unsigned long*) &(this->st_velocity);
00154       offset += 3;
00155       *val_st_velocity = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00156       *val_st_velocity |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00157       *val_st_velocity |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00158       *val_st_velocity |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00159       unsigned long exp_st_velocity = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00160       exp_st_velocity |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00161       if(exp_st_velocity !=0)
00162         *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;
00163       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_velocity = -this->st_velocity;
00164         memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
00165       }
00166       unsigned char effort_lengthT = *(inbuffer + offset++);
00167       if(effort_lengthT > effort_length)
00168         this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
00169       offset += 3;
00170       effort_length = effort_lengthT;
00171       for( unsigned char i = 0; i < effort_length; i++){
00172       unsigned long * val_st_effort = (unsigned long*) &(this->st_effort);
00173       offset += 3;
00174       *val_st_effort = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00175       *val_st_effort |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00176       *val_st_effort |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00177       *val_st_effort |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00178       unsigned long exp_st_effort = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00179       exp_st_effort |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00180       if(exp_st_effort !=0)
00181         *val_st_effort |= ((exp_st_effort)-1023+127)<<23;
00182       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_effort = -this->st_effort;
00183         memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
00184       }
00185      return offset;
00186     }
00187 
00188     const char * getType(){ return "sensor_msgs/JointState"; };
00189 
00190   };
00191 
00192 }
00193 #endif
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Author(s): André Gonçalves Araújo
autogenerated on Fri Feb 1 2013 13:21:12