JointState.h

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#ifndef _ROS_sensor_msgs_JointState_h
#define _ROS_sensor_msgs_JointState_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"

namespace sensor_msgs
{

  class JointState : public ros::Msg
  {
    public:
      std_msgs::Header header;
      uint8_t name_length;
      char* st_name;
      char* * name;
      uint8_t position_length;
      float st_position;
      float * position;
      uint8_t velocity_length;
      float st_velocity;
      float * velocity;
      uint8_t effort_length;
      float st_effort;
      float * effort;

    JointState():
      header(),
      name_length(0), name(NULL),
      position_length(0), position(NULL),
      velocity_length(0), velocity(NULL),
      effort_length(0), effort(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      *(outbuffer + offset++) = name_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < name_length; i++){
      uint32_t length_namei = strlen(this->name[i]);
      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->name[i], length_namei);
      offset += length_namei;
      }
      *(outbuffer + offset++) = position_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < position_length; i++){
      offset += serializeAvrFloat64(outbuffer + offset, this->position[i]);
      }
      *(outbuffer + offset++) = velocity_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < velocity_length; i++){
      offset += serializeAvrFloat64(outbuffer + offset, this->velocity[i]);
      }
      *(outbuffer + offset++) = effort_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < effort_length; i++){
      offset += serializeAvrFloat64(outbuffer + offset, this->effort[i]);
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      uint8_t name_lengthT = *(inbuffer + offset++);
      if(name_lengthT > name_length)
        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
      offset += 3;
      name_length = name_lengthT;
      for( uint8_t i = 0; i < name_length; i++){
      uint32_t length_st_name;
      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_st_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_st_name-1]=0;
      this->st_name = (char *)(inbuffer + offset-1);
      offset += length_st_name;
        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
      }
      uint8_t position_lengthT = *(inbuffer + offset++);
      if(position_lengthT > position_length)
        this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));
      offset += 3;
      position_length = position_lengthT;
      for( uint8_t i = 0; i < position_length; i++){
      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_position));
        memcpy( &(this->position[i]), &(this->st_position), sizeof(float));
      }
      uint8_t velocity_lengthT = *(inbuffer + offset++);
      if(velocity_lengthT > velocity_length)
        this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));
      offset += 3;
      velocity_length = velocity_lengthT;
      for( uint8_t i = 0; i < velocity_length; i++){
      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_velocity));
        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));
      }
      uint8_t effort_lengthT = *(inbuffer + offset++);
      if(effort_lengthT > effort_length)
        this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));
      offset += 3;
      effort_length = effort_lengthT;
      for( uint8_t i = 0; i < effort_length; i++){
      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_effort));
        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));
      }
     return offset;
    }

    const char * getType(){ return "sensor_msgs/JointState"; };
    const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };

  };

}
#endif