57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
gazebo_msgs/ApplyBodyWrench.h@2:40f11e1dc026, 2018-10-23 (annotated)
- Committer:
- WeberYang
- Date:
- Tue Oct 23 03:00:47 2018 +0000
- Revision:
- 2:40f11e1dc026
- Parent:
- 0:9e9b7db60fd5
Using two TIM to capture encoder signals.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_ApplyBodyWrench_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_ApplyBodyWrench_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/duration.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "geometry_msgs/Wrench.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "ros/time.h" |
garyservin | 0:9e9b7db60fd5 | 10 | #include "geometry_msgs/Point.h" |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | namespace gazebo_msgs |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench"; |
garyservin | 0:9e9b7db60fd5 | 16 | |
garyservin | 0:9e9b7db60fd5 | 17 | class ApplyBodyWrenchRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 18 | { |
garyservin | 0:9e9b7db60fd5 | 19 | public: |
garyservin | 0:9e9b7db60fd5 | 20 | typedef const char* _body_name_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _body_name_type body_name; |
garyservin | 0:9e9b7db60fd5 | 22 | typedef const char* _reference_frame_type; |
garyservin | 0:9e9b7db60fd5 | 23 | _reference_frame_type reference_frame; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef geometry_msgs::Point _reference_point_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _reference_point_type reference_point; |
garyservin | 0:9e9b7db60fd5 | 26 | typedef geometry_msgs::Wrench _wrench_type; |
garyservin | 0:9e9b7db60fd5 | 27 | _wrench_type wrench; |
garyservin | 0:9e9b7db60fd5 | 28 | typedef ros::Time _start_time_type; |
garyservin | 0:9e9b7db60fd5 | 29 | _start_time_type start_time; |
garyservin | 0:9e9b7db60fd5 | 30 | typedef ros::Duration _duration_type; |
garyservin | 0:9e9b7db60fd5 | 31 | _duration_type duration; |
garyservin | 0:9e9b7db60fd5 | 32 | |
garyservin | 0:9e9b7db60fd5 | 33 | ApplyBodyWrenchRequest(): |
garyservin | 0:9e9b7db60fd5 | 34 | body_name(""), |
garyservin | 0:9e9b7db60fd5 | 35 | reference_frame(""), |
garyservin | 0:9e9b7db60fd5 | 36 | reference_point(), |
garyservin | 0:9e9b7db60fd5 | 37 | wrench(), |
garyservin | 0:9e9b7db60fd5 | 38 | start_time(), |
garyservin | 0:9e9b7db60fd5 | 39 | duration() |
garyservin | 0:9e9b7db60fd5 | 40 | { |
garyservin | 0:9e9b7db60fd5 | 41 | } |
garyservin | 0:9e9b7db60fd5 | 42 | |
garyservin | 0:9e9b7db60fd5 | 43 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 44 | { |
garyservin | 0:9e9b7db60fd5 | 45 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 46 | uint32_t length_body_name = strlen(this->body_name); |
garyservin | 0:9e9b7db60fd5 | 47 | varToArr(outbuffer + offset, length_body_name); |
garyservin | 0:9e9b7db60fd5 | 48 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 49 | memcpy(outbuffer + offset, this->body_name, length_body_name); |
garyservin | 0:9e9b7db60fd5 | 50 | offset += length_body_name; |
garyservin | 0:9e9b7db60fd5 | 51 | uint32_t length_reference_frame = strlen(this->reference_frame); |
garyservin | 0:9e9b7db60fd5 | 52 | varToArr(outbuffer + offset, length_reference_frame); |
garyservin | 0:9e9b7db60fd5 | 53 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 54 | memcpy(outbuffer + offset, this->reference_frame, length_reference_frame); |
garyservin | 0:9e9b7db60fd5 | 55 | offset += length_reference_frame; |
garyservin | 0:9e9b7db60fd5 | 56 | offset += this->reference_point.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 57 | offset += this->wrench.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 58 | *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 59 | *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 62 | offset += sizeof(this->start_time.sec); |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | offset += sizeof(this->start_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 68 | *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 69 | *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 70 | *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 71 | *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 72 | offset += sizeof(this->duration.sec); |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | offset += sizeof(this->duration.nsec); |
garyservin | 0:9e9b7db60fd5 | 78 | return offset; |
garyservin | 0:9e9b7db60fd5 | 79 | } |
garyservin | 0:9e9b7db60fd5 | 80 | |
garyservin | 0:9e9b7db60fd5 | 81 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 82 | { |
garyservin | 0:9e9b7db60fd5 | 83 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 84 | uint32_t length_body_name; |
garyservin | 0:9e9b7db60fd5 | 85 | arrToVar(length_body_name, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 86 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 87 | for(unsigned int k= offset; k< offset+length_body_name; ++k){ |
garyservin | 0:9e9b7db60fd5 | 88 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 89 | } |
garyservin | 0:9e9b7db60fd5 | 90 | inbuffer[offset+length_body_name-1]=0; |
garyservin | 0:9e9b7db60fd5 | 91 | this->body_name = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 92 | offset += length_body_name; |
garyservin | 0:9e9b7db60fd5 | 93 | uint32_t length_reference_frame; |
garyservin | 0:9e9b7db60fd5 | 94 | arrToVar(length_reference_frame, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 95 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 96 | for(unsigned int k= offset; k< offset+length_reference_frame; ++k){ |
garyservin | 0:9e9b7db60fd5 | 97 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 98 | } |
garyservin | 0:9e9b7db60fd5 | 99 | inbuffer[offset+length_reference_frame-1]=0; |
garyservin | 0:9e9b7db60fd5 | 100 | this->reference_frame = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 101 | offset += length_reference_frame; |
garyservin | 0:9e9b7db60fd5 | 102 | offset += this->reference_point.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 103 | offset += this->wrench.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 104 | this->start_time.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 105 | this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 106 | this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 107 | this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 108 | offset += sizeof(this->start_time.sec); |
garyservin | 0:9e9b7db60fd5 | 109 | this->start_time.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 110 | this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 111 | this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 112 | this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 113 | offset += sizeof(this->start_time.nsec); |
garyservin | 0:9e9b7db60fd5 | 114 | this->duration.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 115 | this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 116 | this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 117 | this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 118 | offset += sizeof(this->duration.sec); |
garyservin | 0:9e9b7db60fd5 | 119 | this->duration.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 120 | this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 121 | this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 122 | this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 123 | offset += sizeof(this->duration.nsec); |
garyservin | 0:9e9b7db60fd5 | 124 | return offset; |
garyservin | 0:9e9b7db60fd5 | 125 | } |
garyservin | 0:9e9b7db60fd5 | 126 | |
garyservin | 0:9e9b7db60fd5 | 127 | const char * getType(){ return APPLYBODYWRENCH; }; |
garyservin | 0:9e9b7db60fd5 | 128 | const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; }; |
garyservin | 0:9e9b7db60fd5 | 129 | |
garyservin | 0:9e9b7db60fd5 | 130 | }; |
garyservin | 0:9e9b7db60fd5 | 131 | |
garyservin | 0:9e9b7db60fd5 | 132 | class ApplyBodyWrenchResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 133 | { |
garyservin | 0:9e9b7db60fd5 | 134 | public: |
garyservin | 0:9e9b7db60fd5 | 135 | typedef bool _success_type; |
garyservin | 0:9e9b7db60fd5 | 136 | _success_type success; |
garyservin | 0:9e9b7db60fd5 | 137 | typedef const char* _status_message_type; |
garyservin | 0:9e9b7db60fd5 | 138 | _status_message_type status_message; |
garyservin | 0:9e9b7db60fd5 | 139 | |
garyservin | 0:9e9b7db60fd5 | 140 | ApplyBodyWrenchResponse(): |
garyservin | 0:9e9b7db60fd5 | 141 | success(0), |
garyservin | 0:9e9b7db60fd5 | 142 | status_message("") |
garyservin | 0:9e9b7db60fd5 | 143 | { |
garyservin | 0:9e9b7db60fd5 | 144 | } |
garyservin | 0:9e9b7db60fd5 | 145 | |
garyservin | 0:9e9b7db60fd5 | 146 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 147 | { |
garyservin | 0:9e9b7db60fd5 | 148 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 149 | union { |
garyservin | 0:9e9b7db60fd5 | 150 | bool real; |
garyservin | 0:9e9b7db60fd5 | 151 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 152 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 153 | u_success.real = this->success; |
garyservin | 0:9e9b7db60fd5 | 154 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 155 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 156 | uint32_t length_status_message = strlen(this->status_message); |
garyservin | 0:9e9b7db60fd5 | 157 | varToArr(outbuffer + offset, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 158 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 159 | memcpy(outbuffer + offset, this->status_message, length_status_message); |
garyservin | 0:9e9b7db60fd5 | 160 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 161 | return offset; |
garyservin | 0:9e9b7db60fd5 | 162 | } |
garyservin | 0:9e9b7db60fd5 | 163 | |
garyservin | 0:9e9b7db60fd5 | 164 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 165 | { |
garyservin | 0:9e9b7db60fd5 | 166 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 167 | union { |
garyservin | 0:9e9b7db60fd5 | 168 | bool real; |
garyservin | 0:9e9b7db60fd5 | 169 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 170 | } u_success; |
garyservin | 0:9e9b7db60fd5 | 171 | u_success.base = 0; |
garyservin | 0:9e9b7db60fd5 | 172 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 173 | this->success = u_success.real; |
garyservin | 0:9e9b7db60fd5 | 174 | offset += sizeof(this->success); |
garyservin | 0:9e9b7db60fd5 | 175 | uint32_t length_status_message; |
garyservin | 0:9e9b7db60fd5 | 176 | arrToVar(length_status_message, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 177 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 178 | for(unsigned int k= offset; k< offset+length_status_message; ++k){ |
garyservin | 0:9e9b7db60fd5 | 179 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 180 | } |
garyservin | 0:9e9b7db60fd5 | 181 | inbuffer[offset+length_status_message-1]=0; |
garyservin | 0:9e9b7db60fd5 | 182 | this->status_message = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 183 | offset += length_status_message; |
garyservin | 0:9e9b7db60fd5 | 184 | return offset; |
garyservin | 0:9e9b7db60fd5 | 185 | } |
garyservin | 0:9e9b7db60fd5 | 186 | |
garyservin | 0:9e9b7db60fd5 | 187 | const char * getType(){ return APPLYBODYWRENCH; }; |
garyservin | 0:9e9b7db60fd5 | 188 | const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; |
garyservin | 0:9e9b7db60fd5 | 189 | |
garyservin | 0:9e9b7db60fd5 | 190 | }; |
garyservin | 0:9e9b7db60fd5 | 191 | |
garyservin | 0:9e9b7db60fd5 | 192 | class ApplyBodyWrench { |
garyservin | 0:9e9b7db60fd5 | 193 | public: |
garyservin | 0:9e9b7db60fd5 | 194 | typedef ApplyBodyWrenchRequest Request; |
garyservin | 0:9e9b7db60fd5 | 195 | typedef ApplyBodyWrenchResponse Response; |
garyservin | 0:9e9b7db60fd5 | 196 | }; |
garyservin | 0:9e9b7db60fd5 | 197 | |
garyservin | 0:9e9b7db60fd5 | 198 | } |
garyservin | 0:9e9b7db60fd5 | 199 | #endif |