Go to the documentation of this file.00001 #ifndef _ROS_manipulation_msgs_CartesianGains_h
00002 #define _ROS_manipulation_msgs_CartesianGains_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 manipulation_msgs
00011 {
00012
00013 class CartesianGains : public ros::Msg
00014 {
00015 public:
00016 std_msgs::Header header;
00017 uint8_t gains_length;
00018 float st_gains;
00019 float * gains;
00020 uint8_t fixed_frame_length;
00021 float st_fixed_frame;
00022 float * fixed_frame;
00023
00024 virtual int serialize(unsigned char *outbuffer) const
00025 {
00026 int offset = 0;
00027 offset += this->header.serialize(outbuffer + offset);
00028 *(outbuffer + offset++) = gains_length;
00029 *(outbuffer + offset++) = 0;
00030 *(outbuffer + offset++) = 0;
00031 *(outbuffer + offset++) = 0;
00032 for( uint8_t i = 0; i < gains_length; i++){
00033 int32_t * val_gainsi = (int32_t *) &(this->gains[i]);
00034 int32_t exp_gainsi = (((*val_gainsi)>>23)&255);
00035 if(exp_gainsi != 0)
00036 exp_gainsi += 1023-127;
00037 int32_t sig_gainsi = *val_gainsi;
00038 *(outbuffer + offset++) = 0;
00039 *(outbuffer + offset++) = 0;
00040 *(outbuffer + offset++) = 0;
00041 *(outbuffer + offset++) = (sig_gainsi<<5) & 0xff;
00042 *(outbuffer + offset++) = (sig_gainsi>>3) & 0xff;
00043 *(outbuffer + offset++) = (sig_gainsi>>11) & 0xff;
00044 *(outbuffer + offset++) = ((exp_gainsi<<4) & 0xF0) | ((sig_gainsi>>19)&0x0F);
00045 *(outbuffer + offset++) = (exp_gainsi>>4) & 0x7F;
00046 if(this->gains[i] < 0) *(outbuffer + offset -1) |= 0x80;
00047 }
00048 *(outbuffer + offset++) = fixed_frame_length;
00049 *(outbuffer + offset++) = 0;
00050 *(outbuffer + offset++) = 0;
00051 *(outbuffer + offset++) = 0;
00052 for( uint8_t i = 0; i < fixed_frame_length; i++){
00053 int32_t * val_fixed_framei = (int32_t *) &(this->fixed_frame[i]);
00054 int32_t exp_fixed_framei = (((*val_fixed_framei)>>23)&255);
00055 if(exp_fixed_framei != 0)
00056 exp_fixed_framei += 1023-127;
00057 int32_t sig_fixed_framei = *val_fixed_framei;
00058 *(outbuffer + offset++) = 0;
00059 *(outbuffer + offset++) = 0;
00060 *(outbuffer + offset++) = 0;
00061 *(outbuffer + offset++) = (sig_fixed_framei<<5) & 0xff;
00062 *(outbuffer + offset++) = (sig_fixed_framei>>3) & 0xff;
00063 *(outbuffer + offset++) = (sig_fixed_framei>>11) & 0xff;
00064 *(outbuffer + offset++) = ((exp_fixed_framei<<4) & 0xF0) | ((sig_fixed_framei>>19)&0x0F);
00065 *(outbuffer + offset++) = (exp_fixed_framei>>4) & 0x7F;
00066 if(this->fixed_frame[i] < 0) *(outbuffer + offset -1) |= 0x80;
00067 }
00068 return offset;
00069 }
00070
00071 virtual int deserialize(unsigned char *inbuffer)
00072 {
00073 int offset = 0;
00074 offset += this->header.deserialize(inbuffer + offset);
00075 uint8_t gains_lengthT = *(inbuffer + offset++);
00076 if(gains_lengthT > gains_length)
00077 this->gains = (float*)realloc(this->gains, gains_lengthT * sizeof(float));
00078 offset += 3;
00079 gains_length = gains_lengthT;
00080 for( uint8_t i = 0; i < gains_length; i++){
00081 uint32_t * val_st_gains = (uint32_t*) &(this->st_gains);
00082 offset += 3;
00083 *val_st_gains = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00084 *val_st_gains |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00085 *val_st_gains |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00086 *val_st_gains |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00087 uint32_t exp_st_gains = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00088 exp_st_gains |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00089 if(exp_st_gains !=0)
00090 *val_st_gains |= ((exp_st_gains)-1023+127)<<23;
00091 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_gains = -this->st_gains;
00092 memcpy( &(this->gains[i]), &(this->st_gains), sizeof(float));
00093 }
00094 uint8_t fixed_frame_lengthT = *(inbuffer + offset++);
00095 if(fixed_frame_lengthT > fixed_frame_length)
00096 this->fixed_frame = (float*)realloc(this->fixed_frame, fixed_frame_lengthT * sizeof(float));
00097 offset += 3;
00098 fixed_frame_length = fixed_frame_lengthT;
00099 for( uint8_t i = 0; i < fixed_frame_length; i++){
00100 uint32_t * val_st_fixed_frame = (uint32_t*) &(this->st_fixed_frame);
00101 offset += 3;
00102 *val_st_fixed_frame = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00103 *val_st_fixed_frame |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00104 *val_st_fixed_frame |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00105 *val_st_fixed_frame |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00106 uint32_t exp_st_fixed_frame = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00107 exp_st_fixed_frame |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00108 if(exp_st_fixed_frame !=0)
00109 *val_st_fixed_frame |= ((exp_st_fixed_frame)-1023+127)<<23;
00110 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_fixed_frame = -this->st_fixed_frame;
00111 memcpy( &(this->fixed_frame[i]), &(this->st_fixed_frame), sizeof(float));
00112 }
00113 return offset;
00114 }
00115
00116 const char * getType(){ return "manipulation_msgs/CartesianGains"; };
00117 const char * getMD5(){ return "ab347f046ca5736a156ec424cbb63635"; };
00118
00119 };
00120
00121 }
00122 #endif