Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/gazebo_msgs/GetLinkState.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?

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scarter1 0:020db18a476d 1 #ifndef _ROS_SERVICE_GetLinkState_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_GetLinkState_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 "gazebo_msgs/LinkState.h"
scarter1 0:020db18a476d 8
scarter1 0:020db18a476d 9 namespace gazebo_msgs
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 static const char GETLINKSTATE[] = "gazebo_msgs/GetLinkState";
scarter1 0:020db18a476d 13
scarter1 0:020db18a476d 14 class GetLinkStateRequest : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 typedef const char* _link_name_type;
scarter1 0:020db18a476d 18 _link_name_type link_name;
scarter1 0:020db18a476d 19 typedef const char* _reference_frame_type;
scarter1 0:020db18a476d 20 _reference_frame_type reference_frame;
scarter1 0:020db18a476d 21
scarter1 0:020db18a476d 22 GetLinkStateRequest():
scarter1 0:020db18a476d 23 link_name(""),
scarter1 0:020db18a476d 24 reference_frame("")
scarter1 0:020db18a476d 25 {
scarter1 0:020db18a476d 26 }
scarter1 0:020db18a476d 27
scarter1 0:020db18a476d 28 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 29 {
scarter1 0:020db18a476d 30 int offset = 0;
scarter1 0:020db18a476d 31 uint32_t length_link_name = strlen(this->link_name);
scarter1 0:020db18a476d 32 varToArr(outbuffer + offset, length_link_name);
scarter1 0:020db18a476d 33 offset += 4;
scarter1 0:020db18a476d 34 memcpy(outbuffer + offset, this->link_name, length_link_name);
scarter1 0:020db18a476d 35 offset += length_link_name;
scarter1 0:020db18a476d 36 uint32_t length_reference_frame = strlen(this->reference_frame);
scarter1 0:020db18a476d 37 varToArr(outbuffer + offset, length_reference_frame);
scarter1 0:020db18a476d 38 offset += 4;
scarter1 0:020db18a476d 39 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
scarter1 0:020db18a476d 40 offset += length_reference_frame;
scarter1 0:020db18a476d 41 return offset;
scarter1 0:020db18a476d 42 }
scarter1 0:020db18a476d 43
scarter1 0:020db18a476d 44 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 45 {
scarter1 0:020db18a476d 46 int offset = 0;
scarter1 0:020db18a476d 47 uint32_t length_link_name;
scarter1 0:020db18a476d 48 arrToVar(length_link_name, (inbuffer + offset));
scarter1 0:020db18a476d 49 offset += 4;
scarter1 0:020db18a476d 50 for(unsigned int k= offset; k< offset+length_link_name; ++k){
scarter1 0:020db18a476d 51 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 52 }
scarter1 0:020db18a476d 53 inbuffer[offset+length_link_name-1]=0;
scarter1 0:020db18a476d 54 this->link_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 55 offset += length_link_name;
scarter1 0:020db18a476d 56 uint32_t length_reference_frame;
scarter1 0:020db18a476d 57 arrToVar(length_reference_frame, (inbuffer + offset));
scarter1 0:020db18a476d 58 offset += 4;
scarter1 0:020db18a476d 59 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
scarter1 0:020db18a476d 60 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 61 }
scarter1 0:020db18a476d 62 inbuffer[offset+length_reference_frame-1]=0;
scarter1 0:020db18a476d 63 this->reference_frame = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 64 offset += length_reference_frame;
scarter1 0:020db18a476d 65 return offset;
scarter1 0:020db18a476d 66 }
scarter1 0:020db18a476d 67
scarter1 0:020db18a476d 68 const char * getType(){ return GETLINKSTATE; };
scarter1 0:020db18a476d 69 const char * getMD5(){ return "7551675c30aaa71f7c288d4864552001"; };
scarter1 0:020db18a476d 70
scarter1 0:020db18a476d 71 };
scarter1 0:020db18a476d 72
scarter1 0:020db18a476d 73 class GetLinkStateResponse : public ros::Msg
scarter1 0:020db18a476d 74 {
scarter1 0:020db18a476d 75 public:
scarter1 0:020db18a476d 76 typedef gazebo_msgs::LinkState _link_state_type;
scarter1 0:020db18a476d 77 _link_state_type link_state;
scarter1 0:020db18a476d 78 typedef bool _success_type;
scarter1 0:020db18a476d 79 _success_type success;
scarter1 0:020db18a476d 80 typedef const char* _status_message_type;
scarter1 0:020db18a476d 81 _status_message_type status_message;
scarter1 0:020db18a476d 82
scarter1 0:020db18a476d 83 GetLinkStateResponse():
scarter1 0:020db18a476d 84 link_state(),
scarter1 0:020db18a476d 85 success(0),
scarter1 0:020db18a476d 86 status_message("")
scarter1 0:020db18a476d 87 {
scarter1 0:020db18a476d 88 }
scarter1 0:020db18a476d 89
scarter1 0:020db18a476d 90 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 91 {
scarter1 0:020db18a476d 92 int offset = 0;
scarter1 0:020db18a476d 93 offset += this->link_state.serialize(outbuffer + offset);
scarter1 0:020db18a476d 94 union {
scarter1 0:020db18a476d 95 bool real;
scarter1 0:020db18a476d 96 uint8_t base;
scarter1 0:020db18a476d 97 } u_success;
scarter1 0:020db18a476d 98 u_success.real = this->success;
scarter1 0:020db18a476d 99 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 100 offset += sizeof(this->success);
scarter1 0:020db18a476d 101 uint32_t length_status_message = strlen(this->status_message);
scarter1 0:020db18a476d 102 varToArr(outbuffer + offset, length_status_message);
scarter1 0:020db18a476d 103 offset += 4;
scarter1 0:020db18a476d 104 memcpy(outbuffer + offset, this->status_message, length_status_message);
scarter1 0:020db18a476d 105 offset += length_status_message;
scarter1 0:020db18a476d 106 return offset;
scarter1 0:020db18a476d 107 }
scarter1 0:020db18a476d 108
scarter1 0:020db18a476d 109 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 110 {
scarter1 0:020db18a476d 111 int offset = 0;
scarter1 0:020db18a476d 112 offset += this->link_state.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 113 union {
scarter1 0:020db18a476d 114 bool real;
scarter1 0:020db18a476d 115 uint8_t base;
scarter1 0:020db18a476d 116 } u_success;
scarter1 0:020db18a476d 117 u_success.base = 0;
scarter1 0:020db18a476d 118 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 119 this->success = u_success.real;
scarter1 0:020db18a476d 120 offset += sizeof(this->success);
scarter1 0:020db18a476d 121 uint32_t length_status_message;
scarter1 0:020db18a476d 122 arrToVar(length_status_message, (inbuffer + offset));
scarter1 0:020db18a476d 123 offset += 4;
scarter1 0:020db18a476d 124 for(unsigned int k= offset; k< offset+length_status_message; ++k){
scarter1 0:020db18a476d 125 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 126 }
scarter1 0:020db18a476d 127 inbuffer[offset+length_status_message-1]=0;
scarter1 0:020db18a476d 128 this->status_message = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 129 offset += length_status_message;
scarter1 0:020db18a476d 130 return offset;
scarter1 0:020db18a476d 131 }
scarter1 0:020db18a476d 132
scarter1 0:020db18a476d 133 const char * getType(){ return GETLINKSTATE; };
scarter1 0:020db18a476d 134 const char * getMD5(){ return "8ba55ad34f9c072e75c0de57b089753b"; };
scarter1 0:020db18a476d 135
scarter1 0:020db18a476d 136 };
scarter1 0:020db18a476d 137
scarter1 0:020db18a476d 138 class GetLinkState {
scarter1 0:020db18a476d 139 public:
scarter1 0:020db18a476d 140 typedef GetLinkStateRequest Request;
scarter1 0:020db18a476d 141 typedef GetLinkStateResponse Response;
scarter1 0:020db18a476d 142 };
scarter1 0:020db18a476d 143
scarter1 0:020db18a476d 144 }
scarter1 0:020db18a476d 145 #endif