Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/ApplyBodyWrench.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_ApplyBodyWrench_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_ApplyBodyWrench_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 "ros/duration.h"
scarter1 0:020db18a476d 8 #include "geometry_msgs/Wrench.h"
scarter1 0:020db18a476d 9 #include "ros/time.h"
scarter1 0:020db18a476d 10 #include "geometry_msgs/Point.h"
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 namespace gazebo_msgs
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14
scarter1 0:020db18a476d 15 static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";
scarter1 0:020db18a476d 16
scarter1 0:020db18a476d 17 class ApplyBodyWrenchRequest : public ros::Msg
scarter1 0:020db18a476d 18 {
scarter1 0:020db18a476d 19 public:
scarter1 0:020db18a476d 20 typedef const char* _body_name_type;
scarter1 0:020db18a476d 21 _body_name_type body_name;
scarter1 0:020db18a476d 22 typedef const char* _reference_frame_type;
scarter1 0:020db18a476d 23 _reference_frame_type reference_frame;
scarter1 0:020db18a476d 24 typedef geometry_msgs::Point _reference_point_type;
scarter1 0:020db18a476d 25 _reference_point_type reference_point;
scarter1 0:020db18a476d 26 typedef geometry_msgs::Wrench _wrench_type;
scarter1 0:020db18a476d 27 _wrench_type wrench;
scarter1 0:020db18a476d 28 typedef ros::Time _start_time_type;
scarter1 0:020db18a476d 29 _start_time_type start_time;
scarter1 0:020db18a476d 30 typedef ros::Duration _duration_type;
scarter1 0:020db18a476d 31 _duration_type duration;
scarter1 0:020db18a476d 32
scarter1 0:020db18a476d 33 ApplyBodyWrenchRequest():
scarter1 0:020db18a476d 34 body_name(""),
scarter1 0:020db18a476d 35 reference_frame(""),
scarter1 0:020db18a476d 36 reference_point(),
scarter1 0:020db18a476d 37 wrench(),
scarter1 0:020db18a476d 38 start_time(),
scarter1 0:020db18a476d 39 duration()
scarter1 0:020db18a476d 40 {
scarter1 0:020db18a476d 41 }
scarter1 0:020db18a476d 42
scarter1 0:020db18a476d 43 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 44 {
scarter1 0:020db18a476d 45 int offset = 0;
scarter1 0:020db18a476d 46 uint32_t length_body_name = strlen(this->body_name);
scarter1 0:020db18a476d 47 varToArr(outbuffer + offset, length_body_name);
scarter1 0:020db18a476d 48 offset += 4;
scarter1 0:020db18a476d 49 memcpy(outbuffer + offset, this->body_name, length_body_name);
scarter1 0:020db18a476d 50 offset += length_body_name;
scarter1 0:020db18a476d 51 uint32_t length_reference_frame = strlen(this->reference_frame);
scarter1 0:020db18a476d 52 varToArr(outbuffer + offset, length_reference_frame);
scarter1 0:020db18a476d 53 offset += 4;
scarter1 0:020db18a476d 54 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
scarter1 0:020db18a476d 55 offset += length_reference_frame;
scarter1 0:020db18a476d 56 offset += this->reference_point.serialize(outbuffer + offset);
scarter1 0:020db18a476d 57 offset += this->wrench.serialize(outbuffer + offset);
scarter1 0:020db18a476d 58 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 59 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 62 offset += sizeof(this->start_time.sec);
scarter1 0:020db18a476d 63 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 64 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 65 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 67 offset += sizeof(this->start_time.nsec);
scarter1 0:020db18a476d 68 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 69 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 70 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 71 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 72 offset += sizeof(this->duration.sec);
scarter1 0:020db18a476d 73 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 74 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 76 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 77 offset += sizeof(this->duration.nsec);
scarter1 0:020db18a476d 78 return offset;
scarter1 0:020db18a476d 79 }
scarter1 0:020db18a476d 80
scarter1 0:020db18a476d 81 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 82 {
scarter1 0:020db18a476d 83 int offset = 0;
scarter1 0:020db18a476d 84 uint32_t length_body_name;
scarter1 0:020db18a476d 85 arrToVar(length_body_name, (inbuffer + offset));
scarter1 0:020db18a476d 86 offset += 4;
scarter1 0:020db18a476d 87 for(unsigned int k= offset; k< offset+length_body_name; ++k){
scarter1 0:020db18a476d 88 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 89 }
scarter1 0:020db18a476d 90 inbuffer[offset+length_body_name-1]=0;
scarter1 0:020db18a476d 91 this->body_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 92 offset += length_body_name;
scarter1 0:020db18a476d 93 uint32_t length_reference_frame;
scarter1 0:020db18a476d 94 arrToVar(length_reference_frame, (inbuffer + offset));
scarter1 0:020db18a476d 95 offset += 4;
scarter1 0:020db18a476d 96 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
scarter1 0:020db18a476d 97 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 98 }
scarter1 0:020db18a476d 99 inbuffer[offset+length_reference_frame-1]=0;
scarter1 0:020db18a476d 100 this->reference_frame = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 101 offset += length_reference_frame;
scarter1 0:020db18a476d 102 offset += this->reference_point.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 103 offset += this->wrench.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 104 this->start_time.sec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 105 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 106 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 107 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 108 offset += sizeof(this->start_time.sec);
scarter1 0:020db18a476d 109 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 110 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 111 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 112 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 113 offset += sizeof(this->start_time.nsec);
scarter1 0:020db18a476d 114 this->duration.sec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 115 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 116 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 117 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 118 offset += sizeof(this->duration.sec);
scarter1 0:020db18a476d 119 this->duration.nsec = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 120 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 121 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 122 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 123 offset += sizeof(this->duration.nsec);
scarter1 0:020db18a476d 124 return offset;
scarter1 0:020db18a476d 125 }
scarter1 0:020db18a476d 126
scarter1 0:020db18a476d 127 const char * getType(){ return APPLYBODYWRENCH; };
scarter1 0:020db18a476d 128 const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };
scarter1 0:020db18a476d 129
scarter1 0:020db18a476d 130 };
scarter1 0:020db18a476d 131
scarter1 0:020db18a476d 132 class ApplyBodyWrenchResponse : public ros::Msg
scarter1 0:020db18a476d 133 {
scarter1 0:020db18a476d 134 public:
scarter1 0:020db18a476d 135 typedef bool _success_type;
scarter1 0:020db18a476d 136 _success_type success;
scarter1 0:020db18a476d 137 typedef const char* _status_message_type;
scarter1 0:020db18a476d 138 _status_message_type status_message;
scarter1 0:020db18a476d 139
scarter1 0:020db18a476d 140 ApplyBodyWrenchResponse():
scarter1 0:020db18a476d 141 success(0),
scarter1 0:020db18a476d 142 status_message("")
scarter1 0:020db18a476d 143 {
scarter1 0:020db18a476d 144 }
scarter1 0:020db18a476d 145
scarter1 0:020db18a476d 146 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 147 {
scarter1 0:020db18a476d 148 int offset = 0;
scarter1 0:020db18a476d 149 union {
scarter1 0:020db18a476d 150 bool real;
scarter1 0:020db18a476d 151 uint8_t base;
scarter1 0:020db18a476d 152 } u_success;
scarter1 0:020db18a476d 153 u_success.real = this->success;
scarter1 0:020db18a476d 154 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 155 offset += sizeof(this->success);
scarter1 0:020db18a476d 156 uint32_t length_status_message = strlen(this->status_message);
scarter1 0:020db18a476d 157 varToArr(outbuffer + offset, length_status_message);
scarter1 0:020db18a476d 158 offset += 4;
scarter1 0:020db18a476d 159 memcpy(outbuffer + offset, this->status_message, length_status_message);
scarter1 0:020db18a476d 160 offset += length_status_message;
scarter1 0:020db18a476d 161 return offset;
scarter1 0:020db18a476d 162 }
scarter1 0:020db18a476d 163
scarter1 0:020db18a476d 164 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 165 {
scarter1 0:020db18a476d 166 int offset = 0;
scarter1 0:020db18a476d 167 union {
scarter1 0:020db18a476d 168 bool real;
scarter1 0:020db18a476d 169 uint8_t base;
scarter1 0:020db18a476d 170 } u_success;
scarter1 0:020db18a476d 171 u_success.base = 0;
scarter1 0:020db18a476d 172 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 173 this->success = u_success.real;
scarter1 0:020db18a476d 174 offset += sizeof(this->success);
scarter1 0:020db18a476d 175 uint32_t length_status_message;
scarter1 0:020db18a476d 176 arrToVar(length_status_message, (inbuffer + offset));
scarter1 0:020db18a476d 177 offset += 4;
scarter1 0:020db18a476d 178 for(unsigned int k= offset; k< offset+length_status_message; ++k){
scarter1 0:020db18a476d 179 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 180 }
scarter1 0:020db18a476d 181 inbuffer[offset+length_status_message-1]=0;
scarter1 0:020db18a476d 182 this->status_message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 183 offset += length_status_message;
scarter1 0:020db18a476d 184 return offset;
scarter1 0:020db18a476d 185 }
scarter1 0:020db18a476d 186
scarter1 0:020db18a476d 187 const char * getType(){ return APPLYBODYWRENCH; };
scarter1 0:020db18a476d 188 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
scarter1 0:020db18a476d 189
scarter1 0:020db18a476d 190 };
scarter1 0:020db18a476d 191
scarter1 0:020db18a476d 192 class ApplyBodyWrench {
scarter1 0:020db18a476d 193 public:
scarter1 0:020db18a476d 194 typedef ApplyBodyWrenchRequest Request;
scarter1 0:020db18a476d 195 typedef ApplyBodyWrenchResponse Response;
scarter1 0:020db18a476d 196 };
scarter1 0:020db18a476d 197
scarter1 0:020db18a476d 198 }
scarter1 0:020db18a476d 199 #endif