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ros melodic library with custom message

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ros_lib/gazebo_msgs/ContactState.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_ContactState_h
scarter1 0:020db18a476d 2 #define _ROS_gazebo_msgs_ContactState_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/Wrench.h"
scarter1 0:020db18a476d 9 #include "geometry_msgs/Vector3.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 ContactState : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 typedef const char* _info_type;
scarter1 0:020db18a476d 18 _info_type info;
scarter1 0:020db18a476d 19 typedef const char* _collision1_name_type;
scarter1 0:020db18a476d 20 _collision1_name_type collision1_name;
scarter1 0:020db18a476d 21 typedef const char* _collision2_name_type;
scarter1 0:020db18a476d 22 _collision2_name_type collision2_name;
scarter1 0:020db18a476d 23 uint32_t wrenches_length;
scarter1 0:020db18a476d 24 typedef geometry_msgs::Wrench _wrenches_type;
scarter1 0:020db18a476d 25 _wrenches_type st_wrenches;
scarter1 0:020db18a476d 26 _wrenches_type * wrenches;
scarter1 0:020db18a476d 27 typedef geometry_msgs::Wrench _total_wrench_type;
scarter1 0:020db18a476d 28 _total_wrench_type total_wrench;
scarter1 0:020db18a476d 29 uint32_t contact_positions_length;
scarter1 0:020db18a476d 30 typedef geometry_msgs::Vector3 _contact_positions_type;
scarter1 0:020db18a476d 31 _contact_positions_type st_contact_positions;
scarter1 0:020db18a476d 32 _contact_positions_type * contact_positions;
scarter1 0:020db18a476d 33 uint32_t contact_normals_length;
scarter1 0:020db18a476d 34 typedef geometry_msgs::Vector3 _contact_normals_type;
scarter1 0:020db18a476d 35 _contact_normals_type st_contact_normals;
scarter1 0:020db18a476d 36 _contact_normals_type * contact_normals;
scarter1 0:020db18a476d 37 uint32_t depths_length;
scarter1 0:020db18a476d 38 typedef double _depths_type;
scarter1 0:020db18a476d 39 _depths_type st_depths;
scarter1 0:020db18a476d 40 _depths_type * depths;
scarter1 0:020db18a476d 41
scarter1 0:020db18a476d 42 ContactState():
scarter1 0:020db18a476d 43 info(""),
scarter1 0:020db18a476d 44 collision1_name(""),
scarter1 0:020db18a476d 45 collision2_name(""),
scarter1 0:020db18a476d 46 wrenches_length(0), wrenches(NULL),
scarter1 0:020db18a476d 47 total_wrench(),
scarter1 0:020db18a476d 48 contact_positions_length(0), contact_positions(NULL),
scarter1 0:020db18a476d 49 contact_normals_length(0), contact_normals(NULL),
scarter1 0:020db18a476d 50 depths_length(0), depths(NULL)
scarter1 0:020db18a476d 51 {
scarter1 0:020db18a476d 52 }
scarter1 0:020db18a476d 53
scarter1 0:020db18a476d 54 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 55 {
scarter1 0:020db18a476d 56 int offset = 0;
scarter1 0:020db18a476d 57 uint32_t length_info = strlen(this->info);
scarter1 0:020db18a476d 58 varToArr(outbuffer + offset, length_info);
scarter1 0:020db18a476d 59 offset += 4;
scarter1 0:020db18a476d 60 memcpy(outbuffer + offset, this->info, length_info);
scarter1 0:020db18a476d 61 offset += length_info;
scarter1 0:020db18a476d 62 uint32_t length_collision1_name = strlen(this->collision1_name);
scarter1 0:020db18a476d 63 varToArr(outbuffer + offset, length_collision1_name);
scarter1 0:020db18a476d 64 offset += 4;
scarter1 0:020db18a476d 65 memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
scarter1 0:020db18a476d 66 offset += length_collision1_name;
scarter1 0:020db18a476d 67 uint32_t length_collision2_name = strlen(this->collision2_name);
scarter1 0:020db18a476d 68 varToArr(outbuffer + offset, length_collision2_name);
scarter1 0:020db18a476d 69 offset += 4;
scarter1 0:020db18a476d 70 memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
scarter1 0:020db18a476d 71 offset += length_collision2_name;
scarter1 0:020db18a476d 72 *(outbuffer + offset + 0) = (this->wrenches_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 73 *(outbuffer + offset + 1) = (this->wrenches_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 74 *(outbuffer + offset + 2) = (this->wrenches_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 3) = (this->wrenches_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 76 offset += sizeof(this->wrenches_length);
scarter1 0:020db18a476d 77 for( uint32_t i = 0; i < wrenches_length; i++){
scarter1 0:020db18a476d 78 offset += this->wrenches[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 79 }
scarter1 0:020db18a476d 80 offset += this->total_wrench.serialize(outbuffer + offset);
scarter1 0:020db18a476d 81 *(outbuffer + offset + 0) = (this->contact_positions_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 82 *(outbuffer + offset + 1) = (this->contact_positions_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 83 *(outbuffer + offset + 2) = (this->contact_positions_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 84 *(outbuffer + offset + 3) = (this->contact_positions_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 85 offset += sizeof(this->contact_positions_length);
scarter1 0:020db18a476d 86 for( uint32_t i = 0; i < contact_positions_length; i++){
scarter1 0:020db18a476d 87 offset += this->contact_positions[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 88 }
scarter1 0:020db18a476d 89 *(outbuffer + offset + 0) = (this->contact_normals_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 90 *(outbuffer + offset + 1) = (this->contact_normals_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 91 *(outbuffer + offset + 2) = (this->contact_normals_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 92 *(outbuffer + offset + 3) = (this->contact_normals_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 93 offset += sizeof(this->contact_normals_length);
scarter1 0:020db18a476d 94 for( uint32_t i = 0; i < contact_normals_length; i++){
scarter1 0:020db18a476d 95 offset += this->contact_normals[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 96 }
scarter1 0:020db18a476d 97 *(outbuffer + offset + 0) = (this->depths_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 98 *(outbuffer + offset + 1) = (this->depths_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 99 *(outbuffer + offset + 2) = (this->depths_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 100 *(outbuffer + offset + 3) = (this->depths_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 101 offset += sizeof(this->depths_length);
scarter1 0:020db18a476d 102 for( uint32_t i = 0; i < depths_length; i++){
scarter1 0:020db18a476d 103 union {
scarter1 0:020db18a476d 104 double real;
scarter1 0:020db18a476d 105 uint64_t base;
scarter1 0:020db18a476d 106 } u_depthsi;
scarter1 0:020db18a476d 107 u_depthsi.real = this->depths[i];
scarter1 0:020db18a476d 108 *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 109 *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 110 *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 111 *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 112 *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 113 *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 114 *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 115 *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 116 offset += sizeof(this->depths[i]);
scarter1 0:020db18a476d 117 }
scarter1 0:020db18a476d 118 return offset;
scarter1 0:020db18a476d 119 }
scarter1 0:020db18a476d 120
scarter1 0:020db18a476d 121 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 122 {
scarter1 0:020db18a476d 123 int offset = 0;
scarter1 0:020db18a476d 124 uint32_t length_info;
scarter1 0:020db18a476d 125 arrToVar(length_info, (inbuffer + offset));
scarter1 0:020db18a476d 126 offset += 4;
scarter1 0:020db18a476d 127 for(unsigned int k= offset; k< offset+length_info; ++k){
scarter1 0:020db18a476d 128 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 129 }
scarter1 0:020db18a476d 130 inbuffer[offset+length_info-1]=0;
scarter1 0:020db18a476d 131 this->info = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 132 offset += length_info;
scarter1 0:020db18a476d 133 uint32_t length_collision1_name;
scarter1 0:020db18a476d 134 arrToVar(length_collision1_name, (inbuffer + offset));
scarter1 0:020db18a476d 135 offset += 4;
scarter1 0:020db18a476d 136 for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
scarter1 0:020db18a476d 137 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 138 }
scarter1 0:020db18a476d 139 inbuffer[offset+length_collision1_name-1]=0;
scarter1 0:020db18a476d 140 this->collision1_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 141 offset += length_collision1_name;
scarter1 0:020db18a476d 142 uint32_t length_collision2_name;
scarter1 0:020db18a476d 143 arrToVar(length_collision2_name, (inbuffer + offset));
scarter1 0:020db18a476d 144 offset += 4;
scarter1 0:020db18a476d 145 for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
scarter1 0:020db18a476d 146 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 147 }
scarter1 0:020db18a476d 148 inbuffer[offset+length_collision2_name-1]=0;
scarter1 0:020db18a476d 149 this->collision2_name = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 150 offset += length_collision2_name;
scarter1 0:020db18a476d 151 uint32_t wrenches_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 152 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 153 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 154 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 155 offset += sizeof(this->wrenches_length);
scarter1 0:020db18a476d 156 if(wrenches_lengthT > wrenches_length)
scarter1 0:020db18a476d 157 this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
scarter1 0:020db18a476d 158 wrenches_length = wrenches_lengthT;
scarter1 0:020db18a476d 159 for( uint32_t i = 0; i < wrenches_length; i++){
scarter1 0:020db18a476d 160 offset += this->st_wrenches.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 161 memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
scarter1 0:020db18a476d 162 }
scarter1 0:020db18a476d 163 offset += this->total_wrench.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 164 uint32_t contact_positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 165 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 166 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 167 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 168 offset += sizeof(this->contact_positions_length);
scarter1 0:020db18a476d 169 if(contact_positions_lengthT > contact_positions_length)
scarter1 0:020db18a476d 170 this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
scarter1 0:020db18a476d 171 contact_positions_length = contact_positions_lengthT;
scarter1 0:020db18a476d 172 for( uint32_t i = 0; i < contact_positions_length; i++){
scarter1 0:020db18a476d 173 offset += this->st_contact_positions.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 174 memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
scarter1 0:020db18a476d 175 }
scarter1 0:020db18a476d 176 uint32_t contact_normals_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 177 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 178 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 179 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 180 offset += sizeof(this->contact_normals_length);
scarter1 0:020db18a476d 181 if(contact_normals_lengthT > contact_normals_length)
scarter1 0:020db18a476d 182 this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
scarter1 0:020db18a476d 183 contact_normals_length = contact_normals_lengthT;
scarter1 0:020db18a476d 184 for( uint32_t i = 0; i < contact_normals_length; i++){
scarter1 0:020db18a476d 185 offset += this->st_contact_normals.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 186 memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
scarter1 0:020db18a476d 187 }
scarter1 0:020db18a476d 188 uint32_t depths_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 189 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 190 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 191 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 192 offset += sizeof(this->depths_length);
scarter1 0:020db18a476d 193 if(depths_lengthT > depths_length)
scarter1 0:020db18a476d 194 this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double));
scarter1 0:020db18a476d 195 depths_length = depths_lengthT;
scarter1 0:020db18a476d 196 for( uint32_t i = 0; i < depths_length; i++){
scarter1 0:020db18a476d 197 union {
scarter1 0:020db18a476d 198 double real;
scarter1 0:020db18a476d 199 uint64_t base;
scarter1 0:020db18a476d 200 } u_st_depths;
scarter1 0:020db18a476d 201 u_st_depths.base = 0;
scarter1 0:020db18a476d 202 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 203 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 204 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 205 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 206 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 207 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 208 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 209 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 210 this->st_depths = u_st_depths.real;
scarter1 0:020db18a476d 211 offset += sizeof(this->st_depths);
scarter1 0:020db18a476d 212 memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double));
scarter1 0:020db18a476d 213 }
scarter1 0:020db18a476d 214 return offset;
scarter1 0:020db18a476d 215 }
scarter1 0:020db18a476d 216
scarter1 0:020db18a476d 217 const char * getType(){ return "gazebo_msgs/ContactState"; };
scarter1 0:020db18a476d 218 const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
scarter1 0:020db18a476d 219
scarter1 0:020db18a476d 220 };
scarter1 0:020db18a476d 221
scarter1 0:020db18a476d 222 }
scarter1 0:020db18a476d 223 #endif