Jesi Miranda
/
ros_lib_kinetic_jesi
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ODEJointProperties.h
00001 #ifndef _ROS_gazebo_msgs_ODEJointProperties_h 00002 #define _ROS_gazebo_msgs_ODEJointProperties_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace gazebo_msgs 00010 { 00011 00012 class ODEJointProperties : public ros::Msg 00013 { 00014 public: 00015 uint32_t damping_length; 00016 typedef double _damping_type; 00017 _damping_type st_damping; 00018 _damping_type * damping; 00019 uint32_t hiStop_length; 00020 typedef double _hiStop_type; 00021 _hiStop_type st_hiStop; 00022 _hiStop_type * hiStop; 00023 uint32_t loStop_length; 00024 typedef double _loStop_type; 00025 _loStop_type st_loStop; 00026 _loStop_type * loStop; 00027 uint32_t erp_length; 00028 typedef double _erp_type; 00029 _erp_type st_erp; 00030 _erp_type * erp; 00031 uint32_t cfm_length; 00032 typedef double _cfm_type; 00033 _cfm_type st_cfm; 00034 _cfm_type * cfm; 00035 uint32_t stop_erp_length; 00036 typedef double _stop_erp_type; 00037 _stop_erp_type st_stop_erp; 00038 _stop_erp_type * stop_erp; 00039 uint32_t stop_cfm_length; 00040 typedef double _stop_cfm_type; 00041 _stop_cfm_type st_stop_cfm; 00042 _stop_cfm_type * stop_cfm; 00043 uint32_t fudge_factor_length; 00044 typedef double _fudge_factor_type; 00045 _fudge_factor_type st_fudge_factor; 00046 _fudge_factor_type * fudge_factor; 00047 uint32_t fmax_length; 00048 typedef double _fmax_type; 00049 _fmax_type st_fmax; 00050 _fmax_type * fmax; 00051 uint32_t vel_length; 00052 typedef double _vel_type; 00053 _vel_type st_vel; 00054 _vel_type * vel; 00055 00056 ODEJointProperties(): 00057 damping_length(0), damping(NULL), 00058 hiStop_length(0), hiStop(NULL), 00059 loStop_length(0), loStop(NULL), 00060 erp_length(0), erp(NULL), 00061 cfm_length(0), cfm(NULL), 00062 stop_erp_length(0), stop_erp(NULL), 00063 stop_cfm_length(0), stop_cfm(NULL), 00064 fudge_factor_length(0), fudge_factor(NULL), 00065 fmax_length(0), fmax(NULL), 00066 vel_length(0), vel(NULL) 00067 { 00068 } 00069 00070 virtual int serialize(unsigned char *outbuffer) const 00071 { 00072 int offset = 0; 00073 *(outbuffer + offset + 0) = (this->damping_length >> (8 * 0)) & 0xFF; 00074 *(outbuffer + offset + 1) = (this->damping_length >> (8 * 1)) & 0xFF; 00075 *(outbuffer + offset + 2) = (this->damping_length >> (8 * 2)) & 0xFF; 00076 *(outbuffer + offset + 3) = (this->damping_length >> (8 * 3)) & 0xFF; 00077 offset += sizeof(this->damping_length); 00078 for( uint32_t i = 0; i < damping_length; i++){ 00079 union { 00080 double real; 00081 uint64_t base; 00082 } u_dampingi; 00083 u_dampingi.real = this->damping[i]; 00084 *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF; 00085 *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF; 00086 *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF; 00087 *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF; 00088 *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF; 00089 *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF; 00090 *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF; 00091 *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF; 00092 offset += sizeof(this->damping[i]); 00093 } 00094 *(outbuffer + offset + 0) = (this->hiStop_length >> (8 * 0)) & 0xFF; 00095 *(outbuffer + offset + 1) = (this->hiStop_length >> (8 * 1)) & 0xFF; 00096 *(outbuffer + offset + 2) = (this->hiStop_length >> (8 * 2)) & 0xFF; 00097 *(outbuffer + offset + 3) = (this->hiStop_length >> (8 * 3)) & 0xFF; 00098 offset += sizeof(this->hiStop_length); 00099 for( uint32_t i = 0; i < hiStop_length; i++){ 00100 union { 00101 double real; 00102 uint64_t base; 00103 } u_hiStopi; 00104 u_hiStopi.real = this->hiStop[i]; 00105 *(outbuffer + offset + 0) = (u_hiStopi.base >> (8 * 0)) & 0xFF; 00106 *(outbuffer + offset + 1) = (u_hiStopi.base >> (8 * 1)) & 0xFF; 00107 *(outbuffer + offset + 2) = (u_hiStopi.base >> (8 * 2)) & 0xFF; 00108 *(outbuffer + offset + 3) = (u_hiStopi.base >> (8 * 3)) & 0xFF; 00109 *(outbuffer + offset + 4) = (u_hiStopi.base >> (8 * 4)) & 0xFF; 00110 *(outbuffer + offset + 5) = (u_hiStopi.base >> (8 * 5)) & 0xFF; 00111 *(outbuffer + offset + 6) = (u_hiStopi.base >> (8 * 6)) & 0xFF; 00112 *(outbuffer + offset + 7) = (u_hiStopi.base >> (8 * 7)) & 0xFF; 00113 offset += sizeof(this->hiStop[i]); 00114 } 00115 *(outbuffer + offset + 0) = (this->loStop_length >> (8 * 0)) & 0xFF; 00116 *(outbuffer + offset + 1) = (this->loStop_length >> (8 * 1)) & 0xFF; 00117 *(outbuffer + offset + 2) = (this->loStop_length >> (8 * 2)) & 0xFF; 00118 *(outbuffer + offset + 3) = (this->loStop_length >> (8 * 3)) & 0xFF; 00119 offset += sizeof(this->loStop_length); 00120 for( uint32_t i = 0; i < loStop_length; i++){ 00121 union { 00122 double real; 00123 uint64_t base; 00124 } u_loStopi; 00125 u_loStopi.real = this->loStop[i]; 00126 *(outbuffer + offset + 0) = (u_loStopi.base >> (8 * 0)) & 0xFF; 00127 *(outbuffer + offset + 1) = (u_loStopi.base >> (8 * 1)) & 0xFF; 00128 *(outbuffer + offset + 2) = (u_loStopi.base >> (8 * 2)) & 0xFF; 00129 *(outbuffer + offset + 3) = (u_loStopi.base >> (8 * 3)) & 0xFF; 00130 *(outbuffer + offset + 4) = (u_loStopi.base >> (8 * 4)) & 0xFF; 00131 *(outbuffer + offset + 5) = (u_loStopi.base >> (8 * 5)) & 0xFF; 00132 *(outbuffer + offset + 6) = (u_loStopi.base >> (8 * 6)) & 0xFF; 00133 *(outbuffer + offset + 7) = (u_loStopi.base >> (8 * 7)) & 0xFF; 00134 offset += sizeof(this->loStop[i]); 00135 } 00136 *(outbuffer + offset + 0) = (this->erp_length >> (8 * 0)) & 0xFF; 00137 *(outbuffer + offset + 1) = (this->erp_length >> (8 * 1)) & 0xFF; 00138 *(outbuffer + offset + 2) = (this->erp_length >> (8 * 2)) & 0xFF; 00139 *(outbuffer + offset + 3) = (this->erp_length >> (8 * 3)) & 0xFF; 00140 offset += sizeof(this->erp_length); 00141 for( uint32_t i = 0; i < erp_length; i++){ 00142 union { 00143 double real; 00144 uint64_t base; 00145 } u_erpi; 00146 u_erpi.real = this->erp[i]; 00147 *(outbuffer + offset + 0) = (u_erpi.base >> (8 * 0)) & 0xFF; 00148 *(outbuffer + offset + 1) = (u_erpi.base >> (8 * 1)) & 0xFF; 00149 *(outbuffer + offset + 2) = (u_erpi.base >> (8 * 2)) & 0xFF; 00150 *(outbuffer + offset + 3) = (u_erpi.base >> (8 * 3)) & 0xFF; 00151 *(outbuffer + offset + 4) = (u_erpi.base >> (8 * 4)) & 0xFF; 00152 *(outbuffer + offset + 5) = (u_erpi.base >> (8 * 5)) & 0xFF; 00153 *(outbuffer + offset + 6) = (u_erpi.base >> (8 * 6)) & 0xFF; 00154 *(outbuffer + offset + 7) = (u_erpi.base >> (8 * 7)) & 0xFF; 00155 offset += sizeof(this->erp[i]); 00156 } 00157 *(outbuffer + offset + 0) = (this->cfm_length >> (8 * 0)) & 0xFF; 00158 *(outbuffer + offset + 1) = (this->cfm_length >> (8 * 1)) & 0xFF; 00159 *(outbuffer + offset + 2) = (this->cfm_length >> (8 * 2)) & 0xFF; 00160 *(outbuffer + offset + 3) = (this->cfm_length >> (8 * 3)) & 0xFF; 00161 offset += sizeof(this->cfm_length); 00162 for( uint32_t i = 0; i < cfm_length; i++){ 00163 union { 00164 double real; 00165 uint64_t base; 00166 } u_cfmi; 00167 u_cfmi.real = this->cfm[i]; 00168 *(outbuffer + offset + 0) = (u_cfmi.base >> (8 * 0)) & 0xFF; 00169 *(outbuffer + offset + 1) = (u_cfmi.base >> (8 * 1)) & 0xFF; 00170 *(outbuffer + offset + 2) = (u_cfmi.base >> (8 * 2)) & 0xFF; 00171 *(outbuffer + offset + 3) = (u_cfmi.base >> (8 * 3)) & 0xFF; 00172 *(outbuffer + offset + 4) = (u_cfmi.base >> (8 * 4)) & 0xFF; 00173 *(outbuffer + offset + 5) = (u_cfmi.base >> (8 * 5)) & 0xFF; 00174 *(outbuffer + offset + 6) = (u_cfmi.base >> (8 * 6)) & 0xFF; 00175 *(outbuffer + offset + 7) = (u_cfmi.base >> (8 * 7)) & 0xFF; 00176 offset += sizeof(this->cfm[i]); 00177 } 00178 *(outbuffer + offset + 0) = (this->stop_erp_length >> (8 * 0)) & 0xFF; 00179 *(outbuffer + offset + 1) = (this->stop_erp_length >> (8 * 1)) & 0xFF; 00180 *(outbuffer + offset + 2) = (this->stop_erp_length >> (8 * 2)) & 0xFF; 00181 *(outbuffer + offset + 3) = (this->stop_erp_length >> (8 * 3)) & 0xFF; 00182 offset += sizeof(this->stop_erp_length); 00183 for( uint32_t i = 0; i < stop_erp_length; i++){ 00184 union { 00185 double real; 00186 uint64_t base; 00187 } u_stop_erpi; 00188 u_stop_erpi.real = this->stop_erp[i]; 00189 *(outbuffer + offset + 0) = (u_stop_erpi.base >> (8 * 0)) & 0xFF; 00190 *(outbuffer + offset + 1) = (u_stop_erpi.base >> (8 * 1)) & 0xFF; 00191 *(outbuffer + offset + 2) = (u_stop_erpi.base >> (8 * 2)) & 0xFF; 00192 *(outbuffer + offset + 3) = (u_stop_erpi.base >> (8 * 3)) & 0xFF; 00193 *(outbuffer + offset + 4) = (u_stop_erpi.base >> (8 * 4)) & 0xFF; 00194 *(outbuffer + offset + 5) = (u_stop_erpi.base >> (8 * 5)) & 0xFF; 00195 *(outbuffer + offset + 6) = (u_stop_erpi.base >> (8 * 6)) & 0xFF; 00196 *(outbuffer + offset + 7) = (u_stop_erpi.base >> (8 * 7)) & 0xFF; 00197 offset += sizeof(this->stop_erp[i]); 00198 } 00199 *(outbuffer + offset + 0) = (this->stop_cfm_length >> (8 * 0)) & 0xFF; 00200 *(outbuffer + offset + 1) = (this->stop_cfm_length >> (8 * 1)) & 0xFF; 00201 *(outbuffer + offset + 2) = (this->stop_cfm_length >> (8 * 2)) & 0xFF; 00202 *(outbuffer + offset + 3) = (this->stop_cfm_length >> (8 * 3)) & 0xFF; 00203 offset += sizeof(this->stop_cfm_length); 00204 for( uint32_t i = 0; i < stop_cfm_length; i++){ 00205 union { 00206 double real; 00207 uint64_t base; 00208 } u_stop_cfmi; 00209 u_stop_cfmi.real = this->stop_cfm[i]; 00210 *(outbuffer + offset + 0) = (u_stop_cfmi.base >> (8 * 0)) & 0xFF; 00211 *(outbuffer + offset + 1) = (u_stop_cfmi.base >> (8 * 1)) & 0xFF; 00212 *(outbuffer + offset + 2) = (u_stop_cfmi.base >> (8 * 2)) & 0xFF; 00213 *(outbuffer + offset + 3) = (u_stop_cfmi.base >> (8 * 3)) & 0xFF; 00214 *(outbuffer + offset + 4) = (u_stop_cfmi.base >> (8 * 4)) & 0xFF; 00215 *(outbuffer + offset + 5) = (u_stop_cfmi.base >> (8 * 5)) & 0xFF; 00216 *(outbuffer + offset + 6) = (u_stop_cfmi.base >> (8 * 6)) & 0xFF; 00217 *(outbuffer + offset + 7) = (u_stop_cfmi.base >> (8 * 7)) & 0xFF; 00218 offset += sizeof(this->stop_cfm[i]); 00219 } 00220 *(outbuffer + offset + 0) = (this->fudge_factor_length >> (8 * 0)) & 0xFF; 00221 *(outbuffer + offset + 1) = (this->fudge_factor_length >> (8 * 1)) & 0xFF; 00222 *(outbuffer + offset + 2) = (this->fudge_factor_length >> (8 * 2)) & 0xFF; 00223 *(outbuffer + offset + 3) = (this->fudge_factor_length >> (8 * 3)) & 0xFF; 00224 offset += sizeof(this->fudge_factor_length); 00225 for( uint32_t i = 0; i < fudge_factor_length; i++){ 00226 union { 00227 double real; 00228 uint64_t base; 00229 } u_fudge_factori; 00230 u_fudge_factori.real = this->fudge_factor[i]; 00231 *(outbuffer + offset + 0) = (u_fudge_factori.base >> (8 * 0)) & 0xFF; 00232 *(outbuffer + offset + 1) = (u_fudge_factori.base >> (8 * 1)) & 0xFF; 00233 *(outbuffer + offset + 2) = (u_fudge_factori.base >> (8 * 2)) & 0xFF; 00234 *(outbuffer + offset + 3) = (u_fudge_factori.base >> (8 * 3)) & 0xFF; 00235 *(outbuffer + offset + 4) = (u_fudge_factori.base >> (8 * 4)) & 0xFF; 00236 *(outbuffer + offset + 5) = (u_fudge_factori.base >> (8 * 5)) & 0xFF; 00237 *(outbuffer + offset + 6) = (u_fudge_factori.base >> (8 * 6)) & 0xFF; 00238 *(outbuffer + offset + 7) = (u_fudge_factori.base >> (8 * 7)) & 0xFF; 00239 offset += sizeof(this->fudge_factor[i]); 00240 } 00241 *(outbuffer + offset + 0) = (this->fmax_length >> (8 * 0)) & 0xFF; 00242 *(outbuffer + offset + 1) = (this->fmax_length >> (8 * 1)) & 0xFF; 00243 *(outbuffer + offset + 2) = (this->fmax_length >> (8 * 2)) & 0xFF; 00244 *(outbuffer + offset + 3) = (this->fmax_length >> (8 * 3)) & 0xFF; 00245 offset += sizeof(this->fmax_length); 00246 for( uint32_t i = 0; i < fmax_length; i++){ 00247 union { 00248 double real; 00249 uint64_t base; 00250 } u_fmaxi; 00251 u_fmaxi.real = this->fmax[i]; 00252 *(outbuffer + offset + 0) = (u_fmaxi.base >> (8 * 0)) & 0xFF; 00253 *(outbuffer + offset + 1) = (u_fmaxi.base >> (8 * 1)) & 0xFF; 00254 *(outbuffer + offset + 2) = (u_fmaxi.base >> (8 * 2)) & 0xFF; 00255 *(outbuffer + offset + 3) = (u_fmaxi.base >> (8 * 3)) & 0xFF; 00256 *(outbuffer + offset + 4) = (u_fmaxi.base >> (8 * 4)) & 0xFF; 00257 *(outbuffer + offset + 5) = (u_fmaxi.base >> (8 * 5)) & 0xFF; 00258 *(outbuffer + offset + 6) = (u_fmaxi.base >> (8 * 6)) & 0xFF; 00259 *(outbuffer + offset + 7) = (u_fmaxi.base >> (8 * 7)) & 0xFF; 00260 offset += sizeof(this->fmax[i]); 00261 } 00262 *(outbuffer + offset + 0) = (this->vel_length >> (8 * 0)) & 0xFF; 00263 *(outbuffer + offset + 1) = (this->vel_length >> (8 * 1)) & 0xFF; 00264 *(outbuffer + offset + 2) = (this->vel_length >> (8 * 2)) & 0xFF; 00265 *(outbuffer + offset + 3) = (this->vel_length >> (8 * 3)) & 0xFF; 00266 offset += sizeof(this->vel_length); 00267 for( uint32_t i = 0; i < vel_length; i++){ 00268 union { 00269 double real; 00270 uint64_t base; 00271 } u_veli; 00272 u_veli.real = this->vel[i]; 00273 *(outbuffer + offset + 0) = (u_veli.base >> (8 * 0)) & 0xFF; 00274 *(outbuffer + offset + 1) = (u_veli.base >> (8 * 1)) & 0xFF; 00275 *(outbuffer + offset + 2) = (u_veli.base >> (8 * 2)) & 0xFF; 00276 *(outbuffer + offset + 3) = (u_veli.base >> (8 * 3)) & 0xFF; 00277 *(outbuffer + offset + 4) = (u_veli.base >> (8 * 4)) & 0xFF; 00278 *(outbuffer + offset + 5) = (u_veli.base >> (8 * 5)) & 0xFF; 00279 *(outbuffer + offset + 6) = (u_veli.base >> (8 * 6)) & 0xFF; 00280 *(outbuffer + offset + 7) = (u_veli.base >> (8 * 7)) & 0xFF; 00281 offset += sizeof(this->vel[i]); 00282 } 00283 return offset; 00284 } 00285 00286 virtual int deserialize(unsigned char *inbuffer) 00287 { 00288 int offset = 0; 00289 uint32_t damping_lengthT = ((uint32_t) (*(inbuffer + offset))); 00290 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00291 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00292 damping_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00293 offset += sizeof(this->damping_length); 00294 if(damping_lengthT > damping_length) 00295 this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double)); 00296 damping_length = damping_lengthT; 00297 for( uint32_t i = 0; i < damping_length; i++){ 00298 union { 00299 double real; 00300 uint64_t base; 00301 } u_st_damping; 00302 u_st_damping.base = 0; 00303 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00304 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00305 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00306 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00307 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00308 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00309 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00310 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00311 this->st_damping = u_st_damping.real; 00312 offset += sizeof(this->st_damping); 00313 memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double)); 00314 } 00315 uint32_t hiStop_lengthT = ((uint32_t) (*(inbuffer + offset))); 00316 hiStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00317 hiStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00318 hiStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00319 offset += sizeof(this->hiStop_length); 00320 if(hiStop_lengthT > hiStop_length) 00321 this->hiStop = (double*)realloc(this->hiStop, hiStop_lengthT * sizeof(double)); 00322 hiStop_length = hiStop_lengthT; 00323 for( uint32_t i = 0; i < hiStop_length; i++){ 00324 union { 00325 double real; 00326 uint64_t base; 00327 } u_st_hiStop; 00328 u_st_hiStop.base = 0; 00329 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00330 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00331 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00332 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00333 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00334 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00335 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00336 u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00337 this->st_hiStop = u_st_hiStop.real; 00338 offset += sizeof(this->st_hiStop); 00339 memcpy( &(this->hiStop[i]), &(this->st_hiStop), sizeof(double)); 00340 } 00341 uint32_t loStop_lengthT = ((uint32_t) (*(inbuffer + offset))); 00342 loStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00343 loStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00344 loStop_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00345 offset += sizeof(this->loStop_length); 00346 if(loStop_lengthT > loStop_length) 00347 this->loStop = (double*)realloc(this->loStop, loStop_lengthT * sizeof(double)); 00348 loStop_length = loStop_lengthT; 00349 for( uint32_t i = 0; i < loStop_length; i++){ 00350 union { 00351 double real; 00352 uint64_t base; 00353 } u_st_loStop; 00354 u_st_loStop.base = 0; 00355 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00356 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00357 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00358 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00359 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00360 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00361 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00362 u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00363 this->st_loStop = u_st_loStop.real; 00364 offset += sizeof(this->st_loStop); 00365 memcpy( &(this->loStop[i]), &(this->st_loStop), sizeof(double)); 00366 } 00367 uint32_t erp_lengthT = ((uint32_t) (*(inbuffer + offset))); 00368 erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00369 erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00370 erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00371 offset += sizeof(this->erp_length); 00372 if(erp_lengthT > erp_length) 00373 this->erp = (double*)realloc(this->erp, erp_lengthT * sizeof(double)); 00374 erp_length = erp_lengthT; 00375 for( uint32_t i = 0; i < erp_length; i++){ 00376 union { 00377 double real; 00378 uint64_t base; 00379 } u_st_erp; 00380 u_st_erp.base = 0; 00381 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00382 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00383 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00384 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00385 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00386 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00387 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00388 u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00389 this->st_erp = u_st_erp.real; 00390 offset += sizeof(this->st_erp); 00391 memcpy( &(this->erp[i]), &(this->st_erp), sizeof(double)); 00392 } 00393 uint32_t cfm_lengthT = ((uint32_t) (*(inbuffer + offset))); 00394 cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00395 cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00396 cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00397 offset += sizeof(this->cfm_length); 00398 if(cfm_lengthT > cfm_length) 00399 this->cfm = (double*)realloc(this->cfm, cfm_lengthT * sizeof(double)); 00400 cfm_length = cfm_lengthT; 00401 for( uint32_t i = 0; i < cfm_length; i++){ 00402 union { 00403 double real; 00404 uint64_t base; 00405 } u_st_cfm; 00406 u_st_cfm.base = 0; 00407 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00408 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00409 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00410 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00411 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00412 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00413 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00414 u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00415 this->st_cfm = u_st_cfm.real; 00416 offset += sizeof(this->st_cfm); 00417 memcpy( &(this->cfm[i]), &(this->st_cfm), sizeof(double)); 00418 } 00419 uint32_t stop_erp_lengthT = ((uint32_t) (*(inbuffer + offset))); 00420 stop_erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00421 stop_erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00422 stop_erp_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00423 offset += sizeof(this->stop_erp_length); 00424 if(stop_erp_lengthT > stop_erp_length) 00425 this->stop_erp = (double*)realloc(this->stop_erp, stop_erp_lengthT * sizeof(double)); 00426 stop_erp_length = stop_erp_lengthT; 00427 for( uint32_t i = 0; i < stop_erp_length; i++){ 00428 union { 00429 double real; 00430 uint64_t base; 00431 } u_st_stop_erp; 00432 u_st_stop_erp.base = 0; 00433 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00434 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00435 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00436 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00437 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00438 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00439 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00440 u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00441 this->st_stop_erp = u_st_stop_erp.real; 00442 offset += sizeof(this->st_stop_erp); 00443 memcpy( &(this->stop_erp[i]), &(this->st_stop_erp), sizeof(double)); 00444 } 00445 uint32_t stop_cfm_lengthT = ((uint32_t) (*(inbuffer + offset))); 00446 stop_cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00447 stop_cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00448 stop_cfm_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00449 offset += sizeof(this->stop_cfm_length); 00450 if(stop_cfm_lengthT > stop_cfm_length) 00451 this->stop_cfm = (double*)realloc(this->stop_cfm, stop_cfm_lengthT * sizeof(double)); 00452 stop_cfm_length = stop_cfm_lengthT; 00453 for( uint32_t i = 0; i < stop_cfm_length; i++){ 00454 union { 00455 double real; 00456 uint64_t base; 00457 } u_st_stop_cfm; 00458 u_st_stop_cfm.base = 0; 00459 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00460 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00461 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00462 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00463 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00464 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00465 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00466 u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00467 this->st_stop_cfm = u_st_stop_cfm.real; 00468 offset += sizeof(this->st_stop_cfm); 00469 memcpy( &(this->stop_cfm[i]), &(this->st_stop_cfm), sizeof(double)); 00470 } 00471 uint32_t fudge_factor_lengthT = ((uint32_t) (*(inbuffer + offset))); 00472 fudge_factor_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00473 fudge_factor_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00474 fudge_factor_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00475 offset += sizeof(this->fudge_factor_length); 00476 if(fudge_factor_lengthT > fudge_factor_length) 00477 this->fudge_factor = (double*)realloc(this->fudge_factor, fudge_factor_lengthT * sizeof(double)); 00478 fudge_factor_length = fudge_factor_lengthT; 00479 for( uint32_t i = 0; i < fudge_factor_length; i++){ 00480 union { 00481 double real; 00482 uint64_t base; 00483 } u_st_fudge_factor; 00484 u_st_fudge_factor.base = 0; 00485 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00486 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00487 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00488 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00489 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00490 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00491 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00492 u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00493 this->st_fudge_factor = u_st_fudge_factor.real; 00494 offset += sizeof(this->st_fudge_factor); 00495 memcpy( &(this->fudge_factor[i]), &(this->st_fudge_factor), sizeof(double)); 00496 } 00497 uint32_t fmax_lengthT = ((uint32_t) (*(inbuffer + offset))); 00498 fmax_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00499 fmax_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00500 fmax_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00501 offset += sizeof(this->fmax_length); 00502 if(fmax_lengthT > fmax_length) 00503 this->fmax = (double*)realloc(this->fmax, fmax_lengthT * sizeof(double)); 00504 fmax_length = fmax_lengthT; 00505 for( uint32_t i = 0; i < fmax_length; i++){ 00506 union { 00507 double real; 00508 uint64_t base; 00509 } u_st_fmax; 00510 u_st_fmax.base = 0; 00511 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00512 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00513 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00514 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00515 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00516 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00517 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00518 u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00519 this->st_fmax = u_st_fmax.real; 00520 offset += sizeof(this->st_fmax); 00521 memcpy( &(this->fmax[i]), &(this->st_fmax), sizeof(double)); 00522 } 00523 uint32_t vel_lengthT = ((uint32_t) (*(inbuffer + offset))); 00524 vel_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00525 vel_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00526 vel_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00527 offset += sizeof(this->vel_length); 00528 if(vel_lengthT > vel_length) 00529 this->vel = (double*)realloc(this->vel, vel_lengthT * sizeof(double)); 00530 vel_length = vel_lengthT; 00531 for( uint32_t i = 0; i < vel_length; i++){ 00532 union { 00533 double real; 00534 uint64_t base; 00535 } u_st_vel; 00536 u_st_vel.base = 0; 00537 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00538 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00539 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00540 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00541 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00542 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00543 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00544 u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00545 this->st_vel = u_st_vel.real; 00546 offset += sizeof(this->st_vel); 00547 memcpy( &(this->vel[i]), &(this->st_vel), sizeof(double)); 00548 } 00549 return offset; 00550 } 00551 00552 const char * getType(){ return "gazebo_msgs/ODEJointProperties"; }; 00553 const char * getMD5(){ return "1b744c32a920af979f53afe2f9c3511f"; }; 00554 00555 }; 00556 00557 } 00558 #endif
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