Jesi Miranda
/
ros_lib_kinetic_jesi
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ODEPhysics.h
00001 #ifndef _ROS_gazebo_msgs_ODEPhysics_h 00002 #define _ROS_gazebo_msgs_ODEPhysics_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 ODEPhysics : public ros::Msg 00013 { 00014 public: 00015 typedef bool _auto_disable_bodies_type; 00016 _auto_disable_bodies_type auto_disable_bodies; 00017 typedef uint32_t _sor_pgs_precon_iters_type; 00018 _sor_pgs_precon_iters_type sor_pgs_precon_iters; 00019 typedef uint32_t _sor_pgs_iters_type; 00020 _sor_pgs_iters_type sor_pgs_iters; 00021 typedef double _sor_pgs_w_type; 00022 _sor_pgs_w_type sor_pgs_w; 00023 typedef double _sor_pgs_rms_error_tol_type; 00024 _sor_pgs_rms_error_tol_type sor_pgs_rms_error_tol; 00025 typedef double _contact_surface_layer_type; 00026 _contact_surface_layer_type contact_surface_layer; 00027 typedef double _contact_max_correcting_vel_type; 00028 _contact_max_correcting_vel_type contact_max_correcting_vel; 00029 typedef double _cfm_type; 00030 _cfm_type cfm; 00031 typedef double _erp_type; 00032 _erp_type erp; 00033 typedef uint32_t _max_contacts_type; 00034 _max_contacts_type max_contacts; 00035 00036 ODEPhysics(): 00037 auto_disable_bodies(0), 00038 sor_pgs_precon_iters(0), 00039 sor_pgs_iters(0), 00040 sor_pgs_w(0), 00041 sor_pgs_rms_error_tol(0), 00042 contact_surface_layer(0), 00043 contact_max_correcting_vel(0), 00044 cfm(0), 00045 erp(0), 00046 max_contacts(0) 00047 { 00048 } 00049 00050 virtual int serialize(unsigned char *outbuffer) const 00051 { 00052 int offset = 0; 00053 union { 00054 bool real; 00055 uint8_t base; 00056 } u_auto_disable_bodies; 00057 u_auto_disable_bodies.real = this->auto_disable_bodies; 00058 *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF; 00059 offset += sizeof(this->auto_disable_bodies); 00060 *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF; 00061 *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF; 00062 *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF; 00063 *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF; 00064 offset += sizeof(this->sor_pgs_precon_iters); 00065 *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF; 00066 *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF; 00067 *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF; 00068 *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF; 00069 offset += sizeof(this->sor_pgs_iters); 00070 union { 00071 double real; 00072 uint64_t base; 00073 } u_sor_pgs_w; 00074 u_sor_pgs_w.real = this->sor_pgs_w; 00075 *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF; 00076 *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF; 00077 *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF; 00078 *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF; 00079 *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF; 00080 *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF; 00081 *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF; 00082 *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF; 00083 offset += sizeof(this->sor_pgs_w); 00084 union { 00085 double real; 00086 uint64_t base; 00087 } u_sor_pgs_rms_error_tol; 00088 u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol; 00089 *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF; 00090 *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF; 00091 *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF; 00092 *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF; 00093 *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF; 00094 *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF; 00095 *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF; 00096 *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF; 00097 offset += sizeof(this->sor_pgs_rms_error_tol); 00098 union { 00099 double real; 00100 uint64_t base; 00101 } u_contact_surface_layer; 00102 u_contact_surface_layer.real = this->contact_surface_layer; 00103 *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF; 00104 *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF; 00105 *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF; 00106 *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF; 00107 *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF; 00108 *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF; 00109 *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF; 00110 *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF; 00111 offset += sizeof(this->contact_surface_layer); 00112 union { 00113 double real; 00114 uint64_t base; 00115 } u_contact_max_correcting_vel; 00116 u_contact_max_correcting_vel.real = this->contact_max_correcting_vel; 00117 *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF; 00118 *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF; 00119 *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF; 00120 *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF; 00121 *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF; 00122 *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF; 00123 *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF; 00124 *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF; 00125 offset += sizeof(this->contact_max_correcting_vel); 00126 union { 00127 double real; 00128 uint64_t base; 00129 } u_cfm; 00130 u_cfm.real = this->cfm; 00131 *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF; 00132 *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF; 00133 *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF; 00134 *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF; 00135 *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF; 00136 *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF; 00137 *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF; 00138 *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF; 00139 offset += sizeof(this->cfm); 00140 union { 00141 double real; 00142 uint64_t base; 00143 } u_erp; 00144 u_erp.real = this->erp; 00145 *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF; 00146 *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF; 00147 *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF; 00148 *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF; 00149 *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF; 00150 *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF; 00151 *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF; 00152 *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF; 00153 offset += sizeof(this->erp); 00154 *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF; 00155 *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF; 00156 *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF; 00157 *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF; 00158 offset += sizeof(this->max_contacts); 00159 return offset; 00160 } 00161 00162 virtual int deserialize(unsigned char *inbuffer) 00163 { 00164 int offset = 0; 00165 union { 00166 bool real; 00167 uint8_t base; 00168 } u_auto_disable_bodies; 00169 u_auto_disable_bodies.base = 0; 00170 u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00171 this->auto_disable_bodies = u_auto_disable_bodies.real; 00172 offset += sizeof(this->auto_disable_bodies); 00173 this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset))); 00174 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00175 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00176 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00177 offset += sizeof(this->sor_pgs_precon_iters); 00178 this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset))); 00179 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00180 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00181 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00182 offset += sizeof(this->sor_pgs_iters); 00183 union { 00184 double real; 00185 uint64_t base; 00186 } u_sor_pgs_w; 00187 u_sor_pgs_w.base = 0; 00188 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00189 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00190 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00191 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00192 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00193 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00194 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00195 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00196 this->sor_pgs_w = u_sor_pgs_w.real; 00197 offset += sizeof(this->sor_pgs_w); 00198 union { 00199 double real; 00200 uint64_t base; 00201 } u_sor_pgs_rms_error_tol; 00202 u_sor_pgs_rms_error_tol.base = 0; 00203 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00204 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00205 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00206 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00207 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00208 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00209 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00210 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00211 this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real; 00212 offset += sizeof(this->sor_pgs_rms_error_tol); 00213 union { 00214 double real; 00215 uint64_t base; 00216 } u_contact_surface_layer; 00217 u_contact_surface_layer.base = 0; 00218 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00219 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00220 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00221 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00222 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00223 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00224 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00225 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00226 this->contact_surface_layer = u_contact_surface_layer.real; 00227 offset += sizeof(this->contact_surface_layer); 00228 union { 00229 double real; 00230 uint64_t base; 00231 } u_contact_max_correcting_vel; 00232 u_contact_max_correcting_vel.base = 0; 00233 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00234 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00235 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00236 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00237 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00238 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00239 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00240 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00241 this->contact_max_correcting_vel = u_contact_max_correcting_vel.real; 00242 offset += sizeof(this->contact_max_correcting_vel); 00243 union { 00244 double real; 00245 uint64_t base; 00246 } u_cfm; 00247 u_cfm.base = 0; 00248 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00249 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00250 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00251 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00252 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00253 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00254 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00255 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00256 this->cfm = u_cfm.real; 00257 offset += sizeof(this->cfm); 00258 union { 00259 double real; 00260 uint64_t base; 00261 } u_erp; 00262 u_erp.base = 0; 00263 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00264 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00265 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00266 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00267 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00268 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00269 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00270 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00271 this->erp = u_erp.real; 00272 offset += sizeof(this->erp); 00273 this->max_contacts = ((uint32_t) (*(inbuffer + offset))); 00274 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00275 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00276 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00277 offset += sizeof(this->max_contacts); 00278 return offset; 00279 } 00280 00281 const char * getType(){ return "gazebo_msgs/ODEPhysics"; }; 00282 const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; }; 00283 00284 }; 00285 00286 } 00287 #endif
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