Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/ContactsState.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_gazebo_msgs_ContactsState_h
scarter1 0:020db18a476d 2 #define _ROS_gazebo_msgs_ContactsState_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8 #include "std_msgs/Header.h"
scarter1 0:020db18a476d 9 #include "gazebo_msgs/ContactState.h"
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 namespace gazebo_msgs
scarter1 0:020db18a476d 12 {
scarter1 0:020db18a476d 13
scarter1 0:020db18a476d 14 class ContactsState : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 18 _header_type header;
scarter1 0:020db18a476d 19 uint32_t states_length;
scarter1 0:020db18a476d 20 typedef gazebo_msgs::ContactState _states_type;
scarter1 0:020db18a476d 21 _states_type st_states;
scarter1 0:020db18a476d 22 _states_type * states;
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 ContactsState():
scarter1 0:020db18a476d 25 header(),
scarter1 0:020db18a476d 26 states_length(0), states(NULL)
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 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 34 *(outbuffer + offset + 0) = (this->states_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 35 *(outbuffer + offset + 1) = (this->states_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 36 *(outbuffer + offset + 2) = (this->states_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 37 *(outbuffer + offset + 3) = (this->states_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 38 offset += sizeof(this->states_length);
scarter1 0:020db18a476d 39 for( uint32_t i = 0; i < states_length; i++){
scarter1 0:020db18a476d 40 offset += this->states[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 41 }
scarter1 0:020db18a476d 42 return offset;
scarter1 0:020db18a476d 43 }
scarter1 0:020db18a476d 44
scarter1 0:020db18a476d 45 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 46 {
scarter1 0:020db18a476d 47 int offset = 0;
scarter1 0:020db18a476d 48 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 49 uint32_t states_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 50 states_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 51 states_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 52 states_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 53 offset += sizeof(this->states_length);
scarter1 0:020db18a476d 54 if(states_lengthT > states_length)
scarter1 0:020db18a476d 55 this->states = (gazebo_msgs::ContactState*)realloc(this->states, states_lengthT * sizeof(gazebo_msgs::ContactState));
scarter1 0:020db18a476d 56 states_length = states_lengthT;
scarter1 0:020db18a476d 57 for( uint32_t i = 0; i < states_length; i++){
scarter1 0:020db18a476d 58 offset += this->st_states.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 59 memcpy( &(this->states[i]), &(this->st_states), sizeof(gazebo_msgs::ContactState));
scarter1 0:020db18a476d 60 }
scarter1 0:020db18a476d 61 return offset;
scarter1 0:020db18a476d 62 }
scarter1 0:020db18a476d 63
scarter1 0:020db18a476d 64 const char * getType(){ return "gazebo_msgs/ContactsState"; };
scarter1 0:020db18a476d 65 const char * getMD5(){ return "acbcb1601a8e525bf72509f18e6f668d"; };
scarter1 0:020db18a476d 66
scarter1 0:020db18a476d 67 };
scarter1 0:020db18a476d 68
scarter1 0:020db18a476d 69 }
scarter1 0:020db18a476d 70 #endif