ros melodic library with custom message
Dependents: Robot_team1_QEI_Douglas Robot_team1
ros_lib/gazebo_msgs/GetModelState.h@0:020db18a476d, 2019-10-30 (annotated)
- Committer:
- scarter1
- Date:
- Wed Oct 30 14:59:49 2019 +0000
- Revision:
- 0:020db18a476d
melodic library;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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scarter1 | 0:020db18a476d | 1 | #ifndef _ROS_SERVICE_GetModelState_h |
scarter1 | 0:020db18a476d | 2 | #define _ROS_SERVICE_GetModelState_h |
scarter1 | 0:020db18a476d | 3 | #include <stdint.h> |
scarter1 | 0:020db18a476d | 4 | #include <string.h> |
scarter1 | 0:020db18a476d | 5 | #include <stdlib.h> |
scarter1 | 0:020db18a476d | 6 | #include "ros/msg.h" |
scarter1 | 0:020db18a476d | 7 | #include "geometry_msgs/Pose.h" |
scarter1 | 0:020db18a476d | 8 | #include "geometry_msgs/Twist.h" |
scarter1 | 0:020db18a476d | 9 | #include "std_msgs/Header.h" |
scarter1 | 0:020db18a476d | 10 | |
scarter1 | 0:020db18a476d | 11 | namespace gazebo_msgs |
scarter1 | 0:020db18a476d | 12 | { |
scarter1 | 0:020db18a476d | 13 | |
scarter1 | 0:020db18a476d | 14 | static const char GETMODELSTATE[] = "gazebo_msgs/GetModelState"; |
scarter1 | 0:020db18a476d | 15 | |
scarter1 | 0:020db18a476d | 16 | class GetModelStateRequest : public ros::Msg |
scarter1 | 0:020db18a476d | 17 | { |
scarter1 | 0:020db18a476d | 18 | public: |
scarter1 | 0:020db18a476d | 19 | typedef const char* _model_name_type; |
scarter1 | 0:020db18a476d | 20 | _model_name_type model_name; |
scarter1 | 0:020db18a476d | 21 | typedef const char* _relative_entity_name_type; |
scarter1 | 0:020db18a476d | 22 | _relative_entity_name_type relative_entity_name; |
scarter1 | 0:020db18a476d | 23 | |
scarter1 | 0:020db18a476d | 24 | GetModelStateRequest(): |
scarter1 | 0:020db18a476d | 25 | model_name(""), |
scarter1 | 0:020db18a476d | 26 | relative_entity_name("") |
scarter1 | 0:020db18a476d | 27 | { |
scarter1 | 0:020db18a476d | 28 | } |
scarter1 | 0:020db18a476d | 29 | |
scarter1 | 0:020db18a476d | 30 | virtual int serialize(unsigned char *outbuffer) const |
scarter1 | 0:020db18a476d | 31 | { |
scarter1 | 0:020db18a476d | 32 | int offset = 0; |
scarter1 | 0:020db18a476d | 33 | uint32_t length_model_name = strlen(this->model_name); |
scarter1 | 0:020db18a476d | 34 | varToArr(outbuffer + offset, length_model_name); |
scarter1 | 0:020db18a476d | 35 | offset += 4; |
scarter1 | 0:020db18a476d | 36 | memcpy(outbuffer + offset, this->model_name, length_model_name); |
scarter1 | 0:020db18a476d | 37 | offset += length_model_name; |
scarter1 | 0:020db18a476d | 38 | uint32_t length_relative_entity_name = strlen(this->relative_entity_name); |
scarter1 | 0:020db18a476d | 39 | varToArr(outbuffer + offset, length_relative_entity_name); |
scarter1 | 0:020db18a476d | 40 | offset += 4; |
scarter1 | 0:020db18a476d | 41 | memcpy(outbuffer + offset, this->relative_entity_name, length_relative_entity_name); |
scarter1 | 0:020db18a476d | 42 | offset += length_relative_entity_name; |
scarter1 | 0:020db18a476d | 43 | return offset; |
scarter1 | 0:020db18a476d | 44 | } |
scarter1 | 0:020db18a476d | 45 | |
scarter1 | 0:020db18a476d | 46 | virtual int deserialize(unsigned char *inbuffer) |
scarter1 | 0:020db18a476d | 47 | { |
scarter1 | 0:020db18a476d | 48 | int offset = 0; |
scarter1 | 0:020db18a476d | 49 | uint32_t length_model_name; |
scarter1 | 0:020db18a476d | 50 | arrToVar(length_model_name, (inbuffer + offset)); |
scarter1 | 0:020db18a476d | 51 | offset += 4; |
scarter1 | 0:020db18a476d | 52 | for(unsigned int k= offset; k< offset+length_model_name; ++k){ |
scarter1 | 0:020db18a476d | 53 | inbuffer[k-1]=inbuffer[k]; |
scarter1 | 0:020db18a476d | 54 | } |
scarter1 | 0:020db18a476d | 55 | inbuffer[offset+length_model_name-1]=0; |
scarter1 | 0:020db18a476d | 56 | this->model_name = (char *)(inbuffer + offset-1); |
scarter1 | 0:020db18a476d | 57 | offset += length_model_name; |
scarter1 | 0:020db18a476d | 58 | uint32_t length_relative_entity_name; |
scarter1 | 0:020db18a476d | 59 | arrToVar(length_relative_entity_name, (inbuffer + offset)); |
scarter1 | 0:020db18a476d | 60 | offset += 4; |
scarter1 | 0:020db18a476d | 61 | for(unsigned int k= offset; k< offset+length_relative_entity_name; ++k){ |
scarter1 | 0:020db18a476d | 62 | inbuffer[k-1]=inbuffer[k]; |
scarter1 | 0:020db18a476d | 63 | } |
scarter1 | 0:020db18a476d | 64 | inbuffer[offset+length_relative_entity_name-1]=0; |
scarter1 | 0:020db18a476d | 65 | this->relative_entity_name = (char *)(inbuffer + offset-1); |
scarter1 | 0:020db18a476d | 66 | offset += length_relative_entity_name; |
scarter1 | 0:020db18a476d | 67 | return offset; |
scarter1 | 0:020db18a476d | 68 | } |
scarter1 | 0:020db18a476d | 69 | |
scarter1 | 0:020db18a476d | 70 | const char * getType(){ return GETMODELSTATE; }; |
scarter1 | 0:020db18a476d | 71 | const char * getMD5(){ return "19d412713cefe4a67437e17a951e759e"; }; |
scarter1 | 0:020db18a476d | 72 | |
scarter1 | 0:020db18a476d | 73 | }; |
scarter1 | 0:020db18a476d | 74 | |
scarter1 | 0:020db18a476d | 75 | class GetModelStateResponse : public ros::Msg |
scarter1 | 0:020db18a476d | 76 | { |
scarter1 | 0:020db18a476d | 77 | public: |
scarter1 | 0:020db18a476d | 78 | typedef std_msgs::Header _header_type; |
scarter1 | 0:020db18a476d | 79 | _header_type header; |
scarter1 | 0:020db18a476d | 80 | typedef geometry_msgs::Pose _pose_type; |
scarter1 | 0:020db18a476d | 81 | _pose_type pose; |
scarter1 | 0:020db18a476d | 82 | typedef geometry_msgs::Twist _twist_type; |
scarter1 | 0:020db18a476d | 83 | _twist_type twist; |
scarter1 | 0:020db18a476d | 84 | typedef bool _success_type; |
scarter1 | 0:020db18a476d | 85 | _success_type success; |
scarter1 | 0:020db18a476d | 86 | typedef const char* _status_message_type; |
scarter1 | 0:020db18a476d | 87 | _status_message_type status_message; |
scarter1 | 0:020db18a476d | 88 | |
scarter1 | 0:020db18a476d | 89 | GetModelStateResponse(): |
scarter1 | 0:020db18a476d | 90 | header(), |
scarter1 | 0:020db18a476d | 91 | pose(), |
scarter1 | 0:020db18a476d | 92 | twist(), |
scarter1 | 0:020db18a476d | 93 | success(0), |
scarter1 | 0:020db18a476d | 94 | status_message("") |
scarter1 | 0:020db18a476d | 95 | { |
scarter1 | 0:020db18a476d | 96 | } |
scarter1 | 0:020db18a476d | 97 | |
scarter1 | 0:020db18a476d | 98 | virtual int serialize(unsigned char *outbuffer) const |
scarter1 | 0:020db18a476d | 99 | { |
scarter1 | 0:020db18a476d | 100 | int offset = 0; |
scarter1 | 0:020db18a476d | 101 | offset += this->header.serialize(outbuffer + offset); |
scarter1 | 0:020db18a476d | 102 | offset += this->pose.serialize(outbuffer + offset); |
scarter1 | 0:020db18a476d | 103 | offset += this->twist.serialize(outbuffer + offset); |
scarter1 | 0:020db18a476d | 104 | union { |
scarter1 | 0:020db18a476d | 105 | bool real; |
scarter1 | 0:020db18a476d | 106 | uint8_t base; |
scarter1 | 0:020db18a476d | 107 | } u_success; |
scarter1 | 0:020db18a476d | 108 | u_success.real = this->success; |
scarter1 | 0:020db18a476d | 109 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
scarter1 | 0:020db18a476d | 110 | offset += sizeof(this->success); |
scarter1 | 0:020db18a476d | 111 | uint32_t length_status_message = strlen(this->status_message); |
scarter1 | 0:020db18a476d | 112 | varToArr(outbuffer + offset, length_status_message); |
scarter1 | 0:020db18a476d | 113 | offset += 4; |
scarter1 | 0:020db18a476d | 114 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
scarter1 | 0:020db18a476d | 115 | offset += length_status_message; |
scarter1 | 0:020db18a476d | 116 | return offset; |
scarter1 | 0:020db18a476d | 117 | } |
scarter1 | 0:020db18a476d | 118 | |
scarter1 | 0:020db18a476d | 119 | virtual int deserialize(unsigned char *inbuffer) |
scarter1 | 0:020db18a476d | 120 | { |
scarter1 | 0:020db18a476d | 121 | int offset = 0; |
scarter1 | 0:020db18a476d | 122 | offset += this->header.deserialize(inbuffer + offset); |
scarter1 | 0:020db18a476d | 123 | offset += this->pose.deserialize(inbuffer + offset); |
scarter1 | 0:020db18a476d | 124 | offset += this->twist.deserialize(inbuffer + offset); |
scarter1 | 0:020db18a476d | 125 | union { |
scarter1 | 0:020db18a476d | 126 | bool real; |
scarter1 | 0:020db18a476d | 127 | uint8_t base; |
scarter1 | 0:020db18a476d | 128 | } u_success; |
scarter1 | 0:020db18a476d | 129 | u_success.base = 0; |
scarter1 | 0:020db18a476d | 130 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
scarter1 | 0:020db18a476d | 131 | this->success = u_success.real; |
scarter1 | 0:020db18a476d | 132 | offset += sizeof(this->success); |
scarter1 | 0:020db18a476d | 133 | uint32_t length_status_message; |
scarter1 | 0:020db18a476d | 134 | arrToVar(length_status_message, (inbuffer + offset)); |
scarter1 | 0:020db18a476d | 135 | offset += 4; |
scarter1 | 0:020db18a476d | 136 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
scarter1 | 0:020db18a476d | 137 | inbuffer[k-1]=inbuffer[k]; |
scarter1 | 0:020db18a476d | 138 | } |
scarter1 | 0:020db18a476d | 139 | inbuffer[offset+length_status_message-1]=0; |
scarter1 | 0:020db18a476d | 140 | this->status_message = (char *)(inbuffer + offset-1); |
scarter1 | 0:020db18a476d | 141 | offset += length_status_message; |
scarter1 | 0:020db18a476d | 142 | return offset; |
scarter1 | 0:020db18a476d | 143 | } |
scarter1 | 0:020db18a476d | 144 | |
scarter1 | 0:020db18a476d | 145 | const char * getType(){ return GETMODELSTATE; }; |
scarter1 | 0:020db18a476d | 146 | const char * getMD5(){ return "ccd51739bb00f0141629e87b792e92b9"; }; |
scarter1 | 0:020db18a476d | 147 | |
scarter1 | 0:020db18a476d | 148 | }; |
scarter1 | 0:020db18a476d | 149 | |
scarter1 | 0:020db18a476d | 150 | class GetModelState { |
scarter1 | 0:020db18a476d | 151 | public: |
scarter1 | 0:020db18a476d | 152 | typedef GetModelStateRequest Request; |
scarter1 | 0:020db18a476d | 153 | typedef GetModelStateResponse Response; |
scarter1 | 0:020db18a476d | 154 | }; |
scarter1 | 0:020db18a476d | 155 | |
scarter1 | 0:020db18a476d | 156 | } |
scarter1 | 0:020db18a476d | 157 | #endif |