GetJointProperties.h

00001 #ifndef _ROS_SERVICE_GetJointProperties_h
00002 #define _ROS_SERVICE_GetJointProperties_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 
00008 namespace gazebo_msgs
00009 {
00010 
00011 static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties";
00012 
00013   class GetJointPropertiesRequest : public ros::Msg
00014   {
00015     public:
00016       typedef const char* _joint_name_type;
00017       _joint_name_type joint_name;
00018 
00019     GetJointPropertiesRequest():
00020       joint_name("")
00021     {
00022     }
00023 
00024     virtual int serialize(unsigned char *outbuffer) const
00025     {
00026       int offset = 0;
00027       uint32_t length_joint_name = strlen(this->joint_name);
00028       varToArr(outbuffer + offset, length_joint_name);
00029       offset += 4;
00030       memcpy(outbuffer + offset, this->joint_name, length_joint_name);
00031       offset += length_joint_name;
00032       return offset;
00033     }
00034 
00035     virtual int deserialize(unsigned char *inbuffer)
00036     {
00037       int offset = 0;
00038       uint32_t length_joint_name;
00039       arrToVar(length_joint_name, (inbuffer + offset));
00040       offset += 4;
00041       for(unsigned int k= offset; k< offset+length_joint_name; ++k){
00042           inbuffer[k-1]=inbuffer[k];
00043       }
00044       inbuffer[offset+length_joint_name-1]=0;
00045       this->joint_name = (char *)(inbuffer + offset-1);
00046       offset += length_joint_name;
00047      return offset;
00048     }
00049 
00050     const char * getType(){ return GETJOINTPROPERTIES; };
00051     const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
00052 
00053   };
00054 
00055   class GetJointPropertiesResponse : public ros::Msg
00056   {
00057     public:
00058       typedef uint8_t _type_type;
00059       _type_type type;
00060       uint32_t damping_length;
00061       typedef double _damping_type;
00062       _damping_type st_damping;
00063       _damping_type * damping;
00064       uint32_t position_length;
00065       typedef double _position_type;
00066       _position_type st_position;
00067       _position_type * position;
00068       uint32_t rate_length;
00069       typedef double _rate_type;
00070       _rate_type st_rate;
00071       _rate_type * rate;
00072       typedef bool _success_type;
00073       _success_type success;
00074       typedef const char* _status_message_type;
00075       _status_message_type status_message;
00076       enum { REVOLUTE =  0                 };
00077       enum { CONTINUOUS =  1                 };
00078       enum { PRISMATIC =  2                 };
00079       enum { FIXED =  3                 };
00080       enum { BALL =  4                 };
00081       enum { UNIVERSAL =  5                 };
00082 
00083     GetJointPropertiesResponse():
00084       type(0),
00085       damping_length(0), damping(NULL),
00086       position_length(0), position(NULL),
00087       rate_length(0), rate(NULL),
00088       success(0),
00089       status_message("")
00090     {
00091     }
00092 
00093     virtual int serialize(unsigned char *outbuffer) const
00094     {
00095       int offset = 0;
00096       *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
00097       offset += sizeof(this->type);
00098       *(outbuffer + offset + 0) = (this->damping_length >> (8 * 0)) & 0xFF;
00099       *(outbuffer + offset + 1) = (this->damping_length >> (8 * 1)) & 0xFF;
00100       *(outbuffer + offset + 2) = (this->damping_length >> (8 * 2)) & 0xFF;
00101       *(outbuffer + offset + 3) = (this->damping_length >> (8 * 3)) & 0xFF;
00102       offset += sizeof(this->damping_length);
00103       for( uint32_t i = 0; i < damping_length; i++){
00104       union {
00105         double real;
00106         uint64_t base;
00107       } u_dampingi;
00108       u_dampingi.real = this->damping[i];
00109       *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF;
00110       *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF;
00111       *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF;
00112       *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF;
00113       *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF;
00114       *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF;
00115       *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF;
00116       *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF;
00117       offset += sizeof(this->damping[i]);
00118       }
00119       *(outbuffer + offset + 0) = (this->position_length >> (8 * 0)) & 0xFF;
00120       *(outbuffer + offset + 1) = (this->position_length >> (8 * 1)) & 0xFF;
00121       *(outbuffer + offset + 2) = (this->position_length >> (8 * 2)) & 0xFF;
00122       *(outbuffer + offset + 3) = (this->position_length >> (8 * 3)) & 0xFF;
00123       offset += sizeof(this->position_length);
00124       for( uint32_t i = 0; i < position_length; i++){
00125       union {
00126         double real;
00127         uint64_t base;
00128       } u_positioni;
00129       u_positioni.real = this->position[i];
00130       *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
00131       *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
00132       *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
00133       *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
00134       *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
00135       *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
00136       *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
00137       *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
00138       offset += sizeof(this->position[i]);
00139       }
00140       *(outbuffer + offset + 0) = (this->rate_length >> (8 * 0)) & 0xFF;
00141       *(outbuffer + offset + 1) = (this->rate_length >> (8 * 1)) & 0xFF;
00142       *(outbuffer + offset + 2) = (this->rate_length >> (8 * 2)) & 0xFF;
00143       *(outbuffer + offset + 3) = (this->rate_length >> (8 * 3)) & 0xFF;
00144       offset += sizeof(this->rate_length);
00145       for( uint32_t i = 0; i < rate_length; i++){
00146       union {
00147         double real;
00148         uint64_t base;
00149       } u_ratei;
00150       u_ratei.real = this->rate[i];
00151       *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF;
00152       *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF;
00153       *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF;
00154       *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF;
00155       *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF;
00156       *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF;
00157       *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF;
00158       *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF;
00159       offset += sizeof(this->rate[i]);
00160       }
00161       union {
00162         bool real;
00163         uint8_t base;
00164       } u_success;
00165       u_success.real = this->success;
00166       *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00167       offset += sizeof(this->success);
00168       uint32_t length_status_message = strlen(this->status_message);
00169       varToArr(outbuffer + offset, length_status_message);
00170       offset += 4;
00171       memcpy(outbuffer + offset, this->status_message, length_status_message);
00172       offset += length_status_message;
00173       return offset;
00174     }
00175 
00176     virtual int deserialize(unsigned char *inbuffer)
00177     {
00178       int offset = 0;
00179       this->type =  ((uint8_t) (*(inbuffer + offset)));
00180       offset += sizeof(this->type);
00181       uint32_t damping_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00182       damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00183       damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00184       damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00185       offset += sizeof(this->damping_length);
00186       if(damping_lengthT > damping_length)
00187         this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double));
00188       damping_length = damping_lengthT;
00189       for( uint32_t i = 0; i < damping_length; i++){
00190       union {
00191         double real;
00192         uint64_t base;
00193       } u_st_damping;
00194       u_st_damping.base = 0;
00195       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00196       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00197       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00198       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00199       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00200       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00201       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00202       u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00203       this->st_damping = u_st_damping.real;
00204       offset += sizeof(this->st_damping);
00205         memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double));
00206       }
00207       uint32_t position_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00208       position_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00209       position_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00210       position_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00211       offset += sizeof(this->position_length);
00212       if(position_lengthT > position_length)
00213         this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
00214       position_length = position_lengthT;
00215       for( uint32_t i = 0; i < position_length; i++){
00216       union {
00217         double real;
00218         uint64_t base;
00219       } u_st_position;
00220       u_st_position.base = 0;
00221       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00222       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00223       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00224       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00225       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00226       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00227       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00228       u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00229       this->st_position = u_st_position.real;
00230       offset += sizeof(this->st_position);
00231         memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
00232       }
00233       uint32_t rate_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00234       rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00235       rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00236       rate_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00237       offset += sizeof(this->rate_length);
00238       if(rate_lengthT > rate_length)
00239         this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double));
00240       rate_length = rate_lengthT;
00241       for( uint32_t i = 0; i < rate_length; i++){
00242       union {
00243         double real;
00244         uint64_t base;
00245       } u_st_rate;
00246       u_st_rate.base = 0;
00247       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00248       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00249       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00250       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00251       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00252       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00253       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00254       u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00255       this->st_rate = u_st_rate.real;
00256       offset += sizeof(this->st_rate);
00257         memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double));
00258       }
00259       union {
00260         bool real;
00261         uint8_t base;
00262       } u_success;
00263       u_success.base = 0;
00264       u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00265       this->success = u_success.real;
00266       offset += sizeof(this->success);
00267       uint32_t length_status_message;
00268       arrToVar(length_status_message, (inbuffer + offset));
00269       offset += 4;
00270       for(unsigned int k= offset; k< offset+length_status_message; ++k){
00271           inbuffer[k-1]=inbuffer[k];
00272       }
00273       inbuffer[offset+length_status_message-1]=0;
00274       this->status_message = (char *)(inbuffer + offset-1);
00275       offset += length_status_message;
00276      return offset;
00277     }
00278 
00279     const char * getType(){ return GETJOINTPROPERTIES; };
00280     const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; };
00281 
00282   };
00283 
00284   class GetJointProperties {
00285     public:
00286     typedef GetJointPropertiesRequest Request;
00287     typedef GetJointPropertiesResponse Response;
00288   };
00289 
00290 }
00291 #endif