text: #ifndef _ROS_manipulation_msgs_CartesianGains_h
  #define _ROS_manipulation_msgs_CartesianGains_h
  
  #include <stdint.h>
  #include <string.h>
  #include <stdlib.h>
  #include "ros/msg.h"
  #include "std_msgs/Header.h"
  
  namespace manipulation_msgs
  {
  
    class CartesianGains : public ros::Msg
    {
      public:
        std_msgs::Header header;
        uint8_t gains_length;
        float st_gains;
        float * gains;
        uint8_t fixed_frame_length;
        float st_fixed_frame;
        float * fixed_frame;
  
      CartesianGains():
        header(),
        gains_length(0), gains(NULL),
        fixed_frame_length(0), fixed_frame(NULL)
      {
      }
  
      virtual int serialize(unsigned char *outbuffer) const
      {
        int offset = 0;
        offset += this->header.serialize(outbuffer + offset);
        *(outbuffer + offset++) = gains_length;
        *(outbuffer + offset++) = 0;
        *(outbuffer + offset++) = 0;
        *(outbuffer + offset++) = 0;
        for( uint8_t i = 0; i < gains_length; i++){
        offset += serializeAvrFloat64(outbuffer + offset, this->gains[i]);
        }
        *(outbuffer + offset++) = fixed_frame_length;
        *(outbuffer + offset++) = 0;
        *(outbuffer + offset++) = 0;
        *(outbuffer + offset++) = 0;
        for( uint8_t i = 0; i < fixed_frame_length; i++){
        offset += serializeAvrFloat64(outbuffer + offset, this->fixed_frame[i]);
        }
        return offset;
      }
  
      virtual int deserialize(unsigned char *inbuffer)
      {
        int offset = 0;
        offset += this->header.deserialize(inbuffer + offset);
        uint8_t gains_lengthT = *(inbuffer + offset++);
        if(gains_lengthT > gains_length)
          this->gains = (float*)realloc(this->gains, gains_lengthT * sizeof(float));
        offset += 3;
        gains_length = gains_lengthT;
        for( uint8_t i = 0; i < gains_length; i++){
        offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_gains));
          memcpy( &(this->gains[i]), &(this->st_gains), sizeof(float));
        }
        uint8_t fixed_frame_lengthT = *(inbuffer + offset++);
        if(fixed_frame_lengthT > fixed_frame_length)
          this->fixed_frame = (float*)realloc(this->fixed_frame, fixed_frame_lengthT * sizeof(float));
        offset += 3;
        fixed_frame_length = fixed_frame_lengthT;
        for( uint8_t i = 0; i < fixed_frame_length; i++){
        offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_fixed_frame));
          memcpy( &(this->fixed_frame[i]), &(this->st_fixed_frame), sizeof(float));
        }
       return offset;
      }
  
      const char * getType(){ return "manipulation_msgs/CartesianGains"; };
      const char * getMD5(){ return "ab347f046ca5736a156ec424cbb63635"; };
  
    };
  
  }
  #endif