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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/ModelStates.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_ModelStates_h
scarter1 0:020db18a476d 2 #define _ROS_gazebo_msgs_ModelStates_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 "geometry_msgs/Pose.h"
scarter1 0:020db18a476d 9 #include "geometry_msgs/Twist.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 ModelStates : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 uint32_t name_length;
scarter1 0:020db18a476d 18 typedef char* _name_type;
scarter1 0:020db18a476d 19 _name_type st_name;
scarter1 0:020db18a476d 20 _name_type * name;
scarter1 0:020db18a476d 21 uint32_t pose_length;
scarter1 0:020db18a476d 22 typedef geometry_msgs::Pose _pose_type;
scarter1 0:020db18a476d 23 _pose_type st_pose;
scarter1 0:020db18a476d 24 _pose_type * pose;
scarter1 0:020db18a476d 25 uint32_t twist_length;
scarter1 0:020db18a476d 26 typedef geometry_msgs::Twist _twist_type;
scarter1 0:020db18a476d 27 _twist_type st_twist;
scarter1 0:020db18a476d 28 _twist_type * twist;
scarter1 0:020db18a476d 29
scarter1 0:020db18a476d 30 ModelStates():
scarter1 0:020db18a476d 31 name_length(0), name(NULL),
scarter1 0:020db18a476d 32 pose_length(0), pose(NULL),
scarter1 0:020db18a476d 33 twist_length(0), twist(NULL)
scarter1 0:020db18a476d 34 {
scarter1 0:020db18a476d 35 }
scarter1 0:020db18a476d 36
scarter1 0:020db18a476d 37 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 38 {
scarter1 0:020db18a476d 39 int offset = 0;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 44 offset += sizeof(this->name_length);
scarter1 0:020db18a476d 45 for( uint32_t i = 0; i < name_length; i++){
scarter1 0:020db18a476d 46 uint32_t length_namei = strlen(this->name[i]);
scarter1 0:020db18a476d 47 varToArr(outbuffer + offset, length_namei);
scarter1 0:020db18a476d 48 offset += 4;
scarter1 0:020db18a476d 49 memcpy(outbuffer + offset, this->name[i], length_namei);
scarter1 0:020db18a476d 50 offset += length_namei;
scarter1 0:020db18a476d 51 }
scarter1 0:020db18a476d 52 *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 55 *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 56 offset += sizeof(this->pose_length);
scarter1 0:020db18a476d 57 for( uint32_t i = 0; i < pose_length; i++){
scarter1 0:020db18a476d 58 offset += this->pose[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 59 }
scarter1 0:020db18a476d 60 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 61 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 62 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 64 offset += sizeof(this->twist_length);
scarter1 0:020db18a476d 65 for( uint32_t i = 0; i < twist_length; i++){
scarter1 0:020db18a476d 66 offset += this->twist[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 67 }
scarter1 0:020db18a476d 68 return offset;
scarter1 0:020db18a476d 69 }
scarter1 0:020db18a476d 70
scarter1 0:020db18a476d 71 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 72 {
scarter1 0:020db18a476d 73 int offset = 0;
scarter1 0:020db18a476d 74 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 75 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 76 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 77 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 78 offset += sizeof(this->name_length);
scarter1 0:020db18a476d 79 if(name_lengthT > name_length)
scarter1 0:020db18a476d 80 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
scarter1 0:020db18a476d 81 name_length = name_lengthT;
scarter1 0:020db18a476d 82 for( uint32_t i = 0; i < name_length; i++){
scarter1 0:020db18a476d 83 uint32_t length_st_name;
scarter1 0:020db18a476d 84 arrToVar(length_st_name, (inbuffer + offset));
scarter1 0:020db18a476d 85 offset += 4;
scarter1 0:020db18a476d 86 for(unsigned int k= offset; k< offset+length_st_name; ++k){
scarter1 0:020db18a476d 87 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 88 }
scarter1 0:020db18a476d 89 inbuffer[offset+length_st_name-1]=0;
scarter1 0:020db18a476d 90 this->st_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 91 offset += length_st_name;
scarter1 0:020db18a476d 92 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
scarter1 0:020db18a476d 93 }
scarter1 0:020db18a476d 94 uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 95 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 96 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 97 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 98 offset += sizeof(this->pose_length);
scarter1 0:020db18a476d 99 if(pose_lengthT > pose_length)
scarter1 0:020db18a476d 100 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
scarter1 0:020db18a476d 101 pose_length = pose_lengthT;
scarter1 0:020db18a476d 102 for( uint32_t i = 0; i < pose_length; i++){
scarter1 0:020db18a476d 103 offset += this->st_pose.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 104 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
scarter1 0:020db18a476d 105 }
scarter1 0:020db18a476d 106 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 107 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 108 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 109 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 110 offset += sizeof(this->twist_length);
scarter1 0:020db18a476d 111 if(twist_lengthT > twist_length)
scarter1 0:020db18a476d 112 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
scarter1 0:020db18a476d 113 twist_length = twist_lengthT;
scarter1 0:020db18a476d 114 for( uint32_t i = 0; i < twist_length; i++){
scarter1 0:020db18a476d 115 offset += this->st_twist.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 116 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
scarter1 0:020db18a476d 117 }
scarter1 0:020db18a476d 118 return offset;
scarter1 0:020db18a476d 119 }
scarter1 0:020db18a476d 120
scarter1 0:020db18a476d 121 const char * getType(){ return "gazebo_msgs/ModelStates"; };
scarter1 0:020db18a476d 122 const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
scarter1 0:020db18a476d 123
scarter1 0:020db18a476d 124 };
scarter1 0:020db18a476d 125
scarter1 0:020db18a476d 126 }
scarter1 0:020db18a476d 127 #endif