From d68de02fd968ec5ecd7c847b985f7bccea777984 Mon Sep 17 00:00:00 2001
From: Tristan Schnell <schnell@fzi.de>
Date: Wed, 31 Jul 2019 10:50:59 +0200
Subject: [PATCH] corrected serialization of double values

---
 .../include/ur_rtde_driver/comm/package_serializer.h   | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
index 4f29d5b..a337ebf 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
@@ -47,6 +47,16 @@ public:
     return size;
   }
 
+  static size_t serialize(uint8_t* buffer, double val)
+  {
+    size_t size = sizeof(double);
+    uint64_t inner;
+    std::memcpy(&inner, &val, size);
+    inner = encode(inner);
+    std::memcpy(buffer, &inner, size);
+    return size;
+  }
+
   static size_t serialize(uint8_t* buffer, std::string val)
   {
     const uint8_t* c_val = reinterpret_cast<const uint8_t*>(val.c_str());