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Diff: gazebo_msgs/ContactState.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 gazebo_msgs/ContactState.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/gazebo_msgs/ContactState.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,223 @@ +#ifndef _ROS_gazebo_msgs_ContactState_h +#define _ROS_gazebo_msgs_ContactState_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "geometry_msgs/Wrench.h" +#include "geometry_msgs/Vector3.h" + +namespace gazebo_msgs +{ + + class ContactState : public ros::Msg + { + public: + typedef const char* _info_type; + _info_type info; + typedef const char* _collision1_name_type; + _collision1_name_type collision1_name; + typedef const char* _collision2_name_type; + _collision2_name_type collision2_name; + uint32_t wrenches_length; + typedef geometry_msgs::Wrench _wrenches_type; + _wrenches_type st_wrenches; + _wrenches_type * wrenches; + typedef geometry_msgs::Wrench _total_wrench_type; + _total_wrench_type total_wrench; + uint32_t contact_positions_length; + typedef geometry_msgs::Vector3 _contact_positions_type; + _contact_positions_type st_contact_positions; + _contact_positions_type * contact_positions; + uint32_t contact_normals_length; + typedef geometry_msgs::Vector3 _contact_normals_type; + _contact_normals_type st_contact_normals; + _contact_normals_type * contact_normals; + uint32_t depths_length; + typedef double _depths_type; + _depths_type st_depths; + _depths_type * depths; + + ContactState(): + info(""), + collision1_name(""), + collision2_name(""), + wrenches_length(0), wrenches(NULL), + total_wrench(), + contact_positions_length(0), contact_positions(NULL), + contact_normals_length(0), contact_normals(NULL), + depths_length(0), depths(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_info = strlen(this->info); + varToArr(outbuffer + offset, length_info); + offset += 4; + memcpy(outbuffer + offset, this->info, length_info); + offset += length_info; + uint32_t length_collision1_name = strlen(this->collision1_name); + varToArr(outbuffer + offset, length_collision1_name); + offset += 4; + memcpy(outbuffer + offset, this->collision1_name, length_collision1_name); + offset += length_collision1_name; + uint32_t length_collision2_name = strlen(this->collision2_name); + varToArr(outbuffer + offset, length_collision2_name); + offset += 4; + memcpy(outbuffer + offset, this->collision2_name, length_collision2_name); + offset += length_collision2_name; + *(outbuffer + offset + 0) = (this->wrenches_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->wrenches_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->wrenches_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->wrenches_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->wrenches_length); + for( uint32_t i = 0; i < wrenches_length; i++){ + offset += this->wrenches[i].serialize(outbuffer + offset); + } + offset += this->total_wrench.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->contact_positions_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->contact_positions_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->contact_positions_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->contact_positions_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->contact_positions_length); + for( uint32_t i = 0; i < contact_positions_length; i++){ + offset += this->contact_positions[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->contact_normals_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->contact_normals_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->contact_normals_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->contact_normals_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->contact_normals_length); + for( uint32_t i = 0; i < contact_normals_length; i++){ + offset += this->contact_normals[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->depths_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->depths_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->depths_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->depths_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->depths_length); + for( uint32_t i = 0; i < depths_length; i++){ + union { + double real; + uint64_t base; + } u_depthsi; + u_depthsi.real = this->depths[i]; + *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->depths[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_info; + arrToVar(length_info, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_info; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_info-1]=0; + this->info = (char *)(inbuffer + offset-1); + offset += length_info; + uint32_t length_collision1_name; + arrToVar(length_collision1_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_collision1_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_collision1_name-1]=0; + this->collision1_name = (char *)(inbuffer + offset-1); + offset += length_collision1_name; + uint32_t length_collision2_name; + arrToVar(length_collision2_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_collision2_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_collision2_name-1]=0; + this->collision2_name = (char *)(inbuffer + offset-1); + offset += length_collision2_name; + uint32_t wrenches_lengthT = ((uint32_t) (*(inbuffer + offset))); + wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->wrenches_length); + if(wrenches_lengthT > wrenches_length) + this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench)); + wrenches_length = wrenches_lengthT; + for( uint32_t i = 0; i < wrenches_length; i++){ + offset += this->st_wrenches.deserialize(inbuffer + offset); + memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench)); + } + offset += this->total_wrench.deserialize(inbuffer + offset); + uint32_t contact_positions_lengthT = ((uint32_t) (*(inbuffer + offset))); + contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->contact_positions_length); + if(contact_positions_lengthT > contact_positions_length) + this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3)); + contact_positions_length = contact_positions_lengthT; + for( uint32_t i = 0; i < contact_positions_length; i++){ + offset += this->st_contact_positions.deserialize(inbuffer + offset); + memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3)); + } + uint32_t contact_normals_lengthT = ((uint32_t) (*(inbuffer + offset))); + contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->contact_normals_length); + if(contact_normals_lengthT > contact_normals_length) + this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3)); + contact_normals_length = contact_normals_lengthT; + for( uint32_t i = 0; i < contact_normals_length; i++){ + offset += this->st_contact_normals.deserialize(inbuffer + offset); + memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3)); + } + uint32_t depths_lengthT = ((uint32_t) (*(inbuffer + offset))); + depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->depths_length); + if(depths_lengthT > depths_length) + this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double)); + depths_length = depths_lengthT; + for( uint32_t i = 0; i < depths_length; i++){ + union { + double real; + uint64_t base; + } u_st_depths; + u_st_depths.base = 0; + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_depths = u_st_depths.real; + offset += sizeof(this->st_depths); + memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double)); + } + return offset; + } + + const char * getType(){ return "gazebo_msgs/ContactState"; }; + const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; }; + + }; + +} +#endif \ No newline at end of file