Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/GetPhysicsProperties.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_GetPhysicsProperties_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_GetPhysicsProperties_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/Vector3.h"
scarter1 0:020db18a476d 8 #include "gazebo_msgs/ODEPhysics.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace gazebo_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
scarter1 0:020db18a476d 14
scarter1 0:020db18a476d 15 class GetPhysicsPropertiesRequest : public ros::Msg
scarter1 0:020db18a476d 16 {
scarter1 0:020db18a476d 17 public:
scarter1 0:020db18a476d 18
scarter1 0:020db18a476d 19 GetPhysicsPropertiesRequest()
scarter1 0:020db18a476d 20 {
scarter1 0:020db18a476d 21 }
scarter1 0:020db18a476d 22
scarter1 0:020db18a476d 23 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 24 {
scarter1 0:020db18a476d 25 int offset = 0;
scarter1 0:020db18a476d 26 return offset;
scarter1 0:020db18a476d 27 }
scarter1 0:020db18a476d 28
scarter1 0:020db18a476d 29 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 30 {
scarter1 0:020db18a476d 31 int offset = 0;
scarter1 0:020db18a476d 32 return offset;
scarter1 0:020db18a476d 33 }
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 const char * getType(){ return GETPHYSICSPROPERTIES; };
scarter1 0:020db18a476d 36 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
scarter1 0:020db18a476d 37
scarter1 0:020db18a476d 38 };
scarter1 0:020db18a476d 39
scarter1 0:020db18a476d 40 class GetPhysicsPropertiesResponse : public ros::Msg
scarter1 0:020db18a476d 41 {
scarter1 0:020db18a476d 42 public:
scarter1 0:020db18a476d 43 typedef double _time_step_type;
scarter1 0:020db18a476d 44 _time_step_type time_step;
scarter1 0:020db18a476d 45 typedef bool _pause_type;
scarter1 0:020db18a476d 46 _pause_type pause;
scarter1 0:020db18a476d 47 typedef double _max_update_rate_type;
scarter1 0:020db18a476d 48 _max_update_rate_type max_update_rate;
scarter1 0:020db18a476d 49 typedef geometry_msgs::Vector3 _gravity_type;
scarter1 0:020db18a476d 50 _gravity_type gravity;
scarter1 0:020db18a476d 51 typedef gazebo_msgs::ODEPhysics _ode_config_type;
scarter1 0:020db18a476d 52 _ode_config_type ode_config;
scarter1 0:020db18a476d 53 typedef bool _success_type;
scarter1 0:020db18a476d 54 _success_type success;
scarter1 0:020db18a476d 55 typedef const char* _status_message_type;
scarter1 0:020db18a476d 56 _status_message_type status_message;
scarter1 0:020db18a476d 57
scarter1 0:020db18a476d 58 GetPhysicsPropertiesResponse():
scarter1 0:020db18a476d 59 time_step(0),
scarter1 0:020db18a476d 60 pause(0),
scarter1 0:020db18a476d 61 max_update_rate(0),
scarter1 0:020db18a476d 62 gravity(),
scarter1 0:020db18a476d 63 ode_config(),
scarter1 0:020db18a476d 64 success(0),
scarter1 0:020db18a476d 65 status_message("")
scarter1 0:020db18a476d 66 {
scarter1 0:020db18a476d 67 }
scarter1 0:020db18a476d 68
scarter1 0:020db18a476d 69 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 70 {
scarter1 0:020db18a476d 71 int offset = 0;
scarter1 0:020db18a476d 72 union {
scarter1 0:020db18a476d 73 double real;
scarter1 0:020db18a476d 74 uint64_t base;
scarter1 0:020db18a476d 75 } u_time_step;
scarter1 0:020db18a476d 76 u_time_step.real = this->time_step;
scarter1 0:020db18a476d 77 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 78 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 79 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 80 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 81 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 82 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 83 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 84 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 85 offset += sizeof(this->time_step);
scarter1 0:020db18a476d 86 union {
scarter1 0:020db18a476d 87 bool real;
scarter1 0:020db18a476d 88 uint8_t base;
scarter1 0:020db18a476d 89 } u_pause;
scarter1 0:020db18a476d 90 u_pause.real = this->pause;
scarter1 0:020db18a476d 91 *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 92 offset += sizeof(this->pause);
scarter1 0:020db18a476d 93 union {
scarter1 0:020db18a476d 94 double real;
scarter1 0:020db18a476d 95 uint64_t base;
scarter1 0:020db18a476d 96 } u_max_update_rate;
scarter1 0:020db18a476d 97 u_max_update_rate.real = this->max_update_rate;
scarter1 0:020db18a476d 98 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 99 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 100 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 101 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 102 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 103 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 104 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 105 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 106 offset += sizeof(this->max_update_rate);
scarter1 0:020db18a476d 107 offset += this->gravity.serialize(outbuffer + offset);
scarter1 0:020db18a476d 108 offset += this->ode_config.serialize(outbuffer + offset);
scarter1 0:020db18a476d 109 union {
scarter1 0:020db18a476d 110 bool real;
scarter1 0:020db18a476d 111 uint8_t base;
scarter1 0:020db18a476d 112 } u_success;
scarter1 0:020db18a476d 113 u_success.real = this->success;
scarter1 0:020db18a476d 114 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 115 offset += sizeof(this->success);
scarter1 0:020db18a476d 116 uint32_t length_status_message = strlen(this->status_message);
scarter1 0:020db18a476d 117 varToArr(outbuffer + offset, length_status_message);
scarter1 0:020db18a476d 118 offset += 4;
scarter1 0:020db18a476d 119 memcpy(outbuffer + offset, this->status_message, length_status_message);
scarter1 0:020db18a476d 120 offset += length_status_message;
scarter1 0:020db18a476d 121 return offset;
scarter1 0:020db18a476d 122 }
scarter1 0:020db18a476d 123
scarter1 0:020db18a476d 124 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 125 {
scarter1 0:020db18a476d 126 int offset = 0;
scarter1 0:020db18a476d 127 union {
scarter1 0:020db18a476d 128 double real;
scarter1 0:020db18a476d 129 uint64_t base;
scarter1 0:020db18a476d 130 } u_time_step;
scarter1 0:020db18a476d 131 u_time_step.base = 0;
scarter1 0:020db18a476d 132 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 133 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 134 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 135 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 136 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 137 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 138 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 139 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 140 this->time_step = u_time_step.real;
scarter1 0:020db18a476d 141 offset += sizeof(this->time_step);
scarter1 0:020db18a476d 142 union {
scarter1 0:020db18a476d 143 bool real;
scarter1 0:020db18a476d 144 uint8_t base;
scarter1 0:020db18a476d 145 } u_pause;
scarter1 0:020db18a476d 146 u_pause.base = 0;
scarter1 0:020db18a476d 147 u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 148 this->pause = u_pause.real;
scarter1 0:020db18a476d 149 offset += sizeof(this->pause);
scarter1 0:020db18a476d 150 union {
scarter1 0:020db18a476d 151 double real;
scarter1 0:020db18a476d 152 uint64_t base;
scarter1 0:020db18a476d 153 } u_max_update_rate;
scarter1 0:020db18a476d 154 u_max_update_rate.base = 0;
scarter1 0:020db18a476d 155 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 156 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 157 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 158 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 159 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 160 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 161 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 162 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 163 this->max_update_rate = u_max_update_rate.real;
scarter1 0:020db18a476d 164 offset += sizeof(this->max_update_rate);
scarter1 0:020db18a476d 165 offset += this->gravity.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 166 offset += this->ode_config.deserialize(inbuffer + offset);
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 GETPHYSICSPROPERTIES; };
scarter1 0:020db18a476d 188 const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
scarter1 0:020db18a476d 189
scarter1 0:020db18a476d 190 };
scarter1 0:020db18a476d 191
scarter1 0:020db18a476d 192 class GetPhysicsProperties {
scarter1 0:020db18a476d 193 public:
scarter1 0:020db18a476d 194 typedef GetPhysicsPropertiesRequest Request;
scarter1 0:020db18a476d 195 typedef GetPhysicsPropertiesResponse Response;
scarter1 0:020db18a476d 196 };
scarter1 0:020db18a476d 197
scarter1 0:020db18a476d 198 }
scarter1 0:020db18a476d 199 #endif