Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

gazebo_msgs/ContactState.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_gazebo_msgs_ContactState_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_gazebo_msgs_ContactState_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "geometry_msgs/Wrench.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/Vector3.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace gazebo_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class ContactState : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* info;
akashvibhute 0:30537dec6e0b 18 const char* collision1_name;
akashvibhute 0:30537dec6e0b 19 const char* collision2_name;
akashvibhute 0:30537dec6e0b 20 uint8_t wrenches_length;
akashvibhute 0:30537dec6e0b 21 geometry_msgs::Wrench st_wrenches;
akashvibhute 0:30537dec6e0b 22 geometry_msgs::Wrench * wrenches;
akashvibhute 0:30537dec6e0b 23 geometry_msgs::Wrench total_wrench;
akashvibhute 0:30537dec6e0b 24 uint8_t contact_positions_length;
akashvibhute 0:30537dec6e0b 25 geometry_msgs::Vector3 st_contact_positions;
akashvibhute 0:30537dec6e0b 26 geometry_msgs::Vector3 * contact_positions;
akashvibhute 0:30537dec6e0b 27 uint8_t contact_normals_length;
akashvibhute 0:30537dec6e0b 28 geometry_msgs::Vector3 st_contact_normals;
akashvibhute 0:30537dec6e0b 29 geometry_msgs::Vector3 * contact_normals;
akashvibhute 0:30537dec6e0b 30 uint8_t depths_length;
akashvibhute 0:30537dec6e0b 31 float st_depths;
akashvibhute 0:30537dec6e0b 32 float * depths;
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 ContactState():
akashvibhute 0:30537dec6e0b 35 info(""),
akashvibhute 0:30537dec6e0b 36 collision1_name(""),
akashvibhute 0:30537dec6e0b 37 collision2_name(""),
akashvibhute 0:30537dec6e0b 38 wrenches_length(0), wrenches(NULL),
akashvibhute 0:30537dec6e0b 39 total_wrench(),
akashvibhute 0:30537dec6e0b 40 contact_positions_length(0), contact_positions(NULL),
akashvibhute 0:30537dec6e0b 41 contact_normals_length(0), contact_normals(NULL),
akashvibhute 0:30537dec6e0b 42 depths_length(0), depths(NULL)
akashvibhute 0:30537dec6e0b 43 {
akashvibhute 0:30537dec6e0b 44 }
akashvibhute 0:30537dec6e0b 45
akashvibhute 0:30537dec6e0b 46 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 47 {
akashvibhute 0:30537dec6e0b 48 int offset = 0;
akashvibhute 0:30537dec6e0b 49 uint32_t length_info = strlen(this->info);
akashvibhute 0:30537dec6e0b 50 memcpy(outbuffer + offset, &length_info, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 51 offset += 4;
akashvibhute 0:30537dec6e0b 52 memcpy(outbuffer + offset, this->info, length_info);
akashvibhute 0:30537dec6e0b 53 offset += length_info;
akashvibhute 0:30537dec6e0b 54 uint32_t length_collision1_name = strlen(this->collision1_name);
akashvibhute 0:30537dec6e0b 55 memcpy(outbuffer + offset, &length_collision1_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 56 offset += 4;
akashvibhute 0:30537dec6e0b 57 memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
akashvibhute 0:30537dec6e0b 58 offset += length_collision1_name;
akashvibhute 0:30537dec6e0b 59 uint32_t length_collision2_name = strlen(this->collision2_name);
akashvibhute 0:30537dec6e0b 60 memcpy(outbuffer + offset, &length_collision2_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 61 offset += 4;
akashvibhute 0:30537dec6e0b 62 memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
akashvibhute 0:30537dec6e0b 63 offset += length_collision2_name;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset++) = wrenches_length;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 68 for( uint8_t i = 0; i < wrenches_length; i++){
akashvibhute 0:30537dec6e0b 69 offset += this->wrenches[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 70 }
akashvibhute 0:30537dec6e0b 71 offset += this->total_wrench.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset++) = contact_positions_length;
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 76 for( uint8_t i = 0; i < contact_positions_length; i++){
akashvibhute 0:30537dec6e0b 77 offset += this->contact_positions[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 78 }
akashvibhute 0:30537dec6e0b 79 *(outbuffer + offset++) = contact_normals_length;
akashvibhute 0:30537dec6e0b 80 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 81 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 82 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 83 for( uint8_t i = 0; i < contact_normals_length; i++){
akashvibhute 0:30537dec6e0b 84 offset += this->contact_normals[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86 *(outbuffer + offset++) = depths_length;
akashvibhute 0:30537dec6e0b 87 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 88 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 89 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 90 for( uint8_t i = 0; i < depths_length; i++){
akashvibhute 0:30537dec6e0b 91 offset += serializeAvrFloat64(outbuffer + offset, this->depths[i]);
akashvibhute 0:30537dec6e0b 92 }
akashvibhute 0:30537dec6e0b 93 return offset;
akashvibhute 0:30537dec6e0b 94 }
akashvibhute 0:30537dec6e0b 95
akashvibhute 0:30537dec6e0b 96 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 97 {
akashvibhute 0:30537dec6e0b 98 int offset = 0;
akashvibhute 0:30537dec6e0b 99 uint32_t length_info;
akashvibhute 0:30537dec6e0b 100 memcpy(&length_info, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 101 offset += 4;
akashvibhute 0:30537dec6e0b 102 for(unsigned int k= offset; k< offset+length_info; ++k){
akashvibhute 0:30537dec6e0b 103 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 104 }
akashvibhute 0:30537dec6e0b 105 inbuffer[offset+length_info-1]=0;
akashvibhute 0:30537dec6e0b 106 this->info = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 107 offset += length_info;
akashvibhute 0:30537dec6e0b 108 uint32_t length_collision1_name;
akashvibhute 0:30537dec6e0b 109 memcpy(&length_collision1_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 110 offset += 4;
akashvibhute 0:30537dec6e0b 111 for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
akashvibhute 0:30537dec6e0b 112 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 113 }
akashvibhute 0:30537dec6e0b 114 inbuffer[offset+length_collision1_name-1]=0;
akashvibhute 0:30537dec6e0b 115 this->collision1_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 116 offset += length_collision1_name;
akashvibhute 0:30537dec6e0b 117 uint32_t length_collision2_name;
akashvibhute 0:30537dec6e0b 118 memcpy(&length_collision2_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 119 offset += 4;
akashvibhute 0:30537dec6e0b 120 for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
akashvibhute 0:30537dec6e0b 121 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 122 }
akashvibhute 0:30537dec6e0b 123 inbuffer[offset+length_collision2_name-1]=0;
akashvibhute 0:30537dec6e0b 124 this->collision2_name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 125 offset += length_collision2_name;
akashvibhute 0:30537dec6e0b 126 uint8_t wrenches_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 127 if(wrenches_lengthT > wrenches_length)
akashvibhute 0:30537dec6e0b 128 this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
akashvibhute 0:30537dec6e0b 129 offset += 3;
akashvibhute 0:30537dec6e0b 130 wrenches_length = wrenches_lengthT;
akashvibhute 0:30537dec6e0b 131 for( uint8_t i = 0; i < wrenches_length; i++){
akashvibhute 0:30537dec6e0b 132 offset += this->st_wrenches.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 133 memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
akashvibhute 0:30537dec6e0b 134 }
akashvibhute 0:30537dec6e0b 135 offset += this->total_wrench.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 136 uint8_t contact_positions_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 137 if(contact_positions_lengthT > contact_positions_length)
akashvibhute 0:30537dec6e0b 138 this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
akashvibhute 0:30537dec6e0b 139 offset += 3;
akashvibhute 0:30537dec6e0b 140 contact_positions_length = contact_positions_lengthT;
akashvibhute 0:30537dec6e0b 141 for( uint8_t i = 0; i < contact_positions_length; i++){
akashvibhute 0:30537dec6e0b 142 offset += this->st_contact_positions.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 143 memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
akashvibhute 0:30537dec6e0b 144 }
akashvibhute 0:30537dec6e0b 145 uint8_t contact_normals_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 146 if(contact_normals_lengthT > contact_normals_length)
akashvibhute 0:30537dec6e0b 147 this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
akashvibhute 0:30537dec6e0b 148 offset += 3;
akashvibhute 0:30537dec6e0b 149 contact_normals_length = contact_normals_lengthT;
akashvibhute 0:30537dec6e0b 150 for( uint8_t i = 0; i < contact_normals_length; i++){
akashvibhute 0:30537dec6e0b 151 offset += this->st_contact_normals.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 152 memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
akashvibhute 0:30537dec6e0b 153 }
akashvibhute 0:30537dec6e0b 154 uint8_t depths_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 155 if(depths_lengthT > depths_length)
akashvibhute 0:30537dec6e0b 156 this->depths = (float*)realloc(this->depths, depths_lengthT * sizeof(float));
akashvibhute 0:30537dec6e0b 157 offset += 3;
akashvibhute 0:30537dec6e0b 158 depths_length = depths_lengthT;
akashvibhute 0:30537dec6e0b 159 for( uint8_t i = 0; i < depths_length; i++){
akashvibhute 0:30537dec6e0b 160 offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_depths));
akashvibhute 0:30537dec6e0b 161 memcpy( &(this->depths[i]), &(this->st_depths), sizeof(float));
akashvibhute 0:30537dec6e0b 162 }
akashvibhute 0:30537dec6e0b 163 return offset;
akashvibhute 0:30537dec6e0b 164 }
akashvibhute 0:30537dec6e0b 165
akashvibhute 0:30537dec6e0b 166 const char * getType(){ return "gazebo_msgs/ContactState"; };
akashvibhute 0:30537dec6e0b 167 const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
akashvibhute 0:30537dec6e0b 168
akashvibhute 0:30537dec6e0b 169 };
akashvibhute 0:30537dec6e0b 170
akashvibhute 0:30537dec6e0b 171 }
akashvibhute 0:30537dec6e0b 172 #endif