Fork of ROS Serial Library
Dependencies: BufferedSerial
gazebo_msgs/ApplyBodyWrench.h
- Committer:
- jdawkins
- Date:
- 2019-09-12
- Revision:
- 2:e75264f7cf89
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:e75264f7cf89:
#ifndef _ROS_SERVICE_ApplyBodyWrench_h #define _ROS_SERVICE_ApplyBodyWrench_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "ros/duration.h" #include "geometry_msgs/Wrench.h" #include "ros/time.h" #include "geometry_msgs/Point.h" namespace gazebo_msgs { static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench"; class ApplyBodyWrenchRequest : public ros::Msg { public: typedef const char* _body_name_type; _body_name_type body_name; typedef const char* _reference_frame_type; _reference_frame_type reference_frame; typedef geometry_msgs::Point _reference_point_type; _reference_point_type reference_point; typedef geometry_msgs::Wrench _wrench_type; _wrench_type wrench; typedef ros::Time _start_time_type; _start_time_type start_time; typedef ros::Duration _duration_type; _duration_type duration; ApplyBodyWrenchRequest(): body_name(""), reference_frame(""), reference_point(), wrench(), start_time(), duration() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_body_name = strlen(this->body_name); varToArr(outbuffer + offset, length_body_name); offset += 4; memcpy(outbuffer + offset, this->body_name, length_body_name); offset += length_body_name; uint32_t length_reference_frame = strlen(this->reference_frame); varToArr(outbuffer + offset, length_reference_frame); offset += 4; memcpy(outbuffer + offset, this->reference_frame, length_reference_frame); offset += length_reference_frame; offset += this->reference_point.serialize(outbuffer + offset); offset += this->wrench.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->start_time.sec); *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->start_time.nsec); *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->duration.sec); *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->duration.nsec); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_body_name; arrToVar(length_body_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_body_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_body_name-1]=0; this->body_name = (char *)(inbuffer + offset-1); offset += length_body_name; uint32_t length_reference_frame; arrToVar(length_reference_frame, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_reference_frame; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_reference_frame-1]=0; this->reference_frame = (char *)(inbuffer + offset-1); offset += length_reference_frame; offset += this->reference_point.deserialize(inbuffer + offset); offset += this->wrench.deserialize(inbuffer + offset); this->start_time.sec = ((uint32_t) (*(inbuffer + offset))); this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->start_time.sec); this->start_time.nsec = ((uint32_t) (*(inbuffer + offset))); this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->start_time.nsec); this->duration.sec = ((uint32_t) (*(inbuffer + offset))); this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->duration.sec); this->duration.nsec = ((uint32_t) (*(inbuffer + offset))); this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->duration.nsec); return offset; } const char * getType(){ return APPLYBODYWRENCH; }; const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; }; }; class ApplyBodyWrenchResponse : public ros::Msg { public: typedef bool _success_type; _success_type success; typedef const char* _status_message_type; _status_message_type status_message; ApplyBodyWrenchResponse(): success(0), status_message("") { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { bool real; uint8_t base; } u_success; u_success.real = this->success; *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; offset += sizeof(this->success); uint32_t length_status_message = strlen(this->status_message); varToArr(outbuffer + offset, length_status_message); offset += 4; memcpy(outbuffer + offset, this->status_message, length_status_message); offset += length_status_message; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { bool real; uint8_t base; } u_success; u_success.base = 0; u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->success = u_success.real; offset += sizeof(this->success); uint32_t length_status_message; arrToVar(length_status_message, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_status_message; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_status_message-1]=0; this->status_message = (char *)(inbuffer + offset-1); offset += length_status_message; return offset; } const char * getType(){ return APPLYBODYWRENCH; }; const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; }; class ApplyBodyWrench { public: typedef ApplyBodyWrenchRequest Request; typedef ApplyBodyWrenchResponse Response; }; } #endif