rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
gazebo_msgs/ModelState.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 0:30537dec6e0b | 1 | #ifndef _ROS_gazebo_msgs_ModelState_h |
akashvibhute | 0:30537dec6e0b | 2 | #define _ROS_gazebo_msgs_ModelState_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/Pose.h" |
akashvibhute | 0:30537dec6e0b | 9 | #include "geometry_msgs/Twist.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 ModelState : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 15 | { |
akashvibhute | 0:30537dec6e0b | 16 | public: |
akashvibhute | 0:30537dec6e0b | 17 | const char* model_name; |
akashvibhute | 0:30537dec6e0b | 18 | geometry_msgs::Pose pose; |
akashvibhute | 0:30537dec6e0b | 19 | geometry_msgs::Twist twist; |
akashvibhute | 0:30537dec6e0b | 20 | const char* reference_frame; |
akashvibhute | 0:30537dec6e0b | 21 | |
akashvibhute | 0:30537dec6e0b | 22 | ModelState(): |
akashvibhute | 0:30537dec6e0b | 23 | model_name(""), |
akashvibhute | 0:30537dec6e0b | 24 | pose(), |
akashvibhute | 0:30537dec6e0b | 25 | twist(), |
akashvibhute | 0:30537dec6e0b | 26 | reference_frame("") |
akashvibhute | 0:30537dec6e0b | 27 | { |
akashvibhute | 0:30537dec6e0b | 28 | } |
akashvibhute | 0:30537dec6e0b | 29 | |
akashvibhute | 0:30537dec6e0b | 30 | virtual int serialize(unsigned char *outbuffer) const |
akashvibhute | 0:30537dec6e0b | 31 | { |
akashvibhute | 0:30537dec6e0b | 32 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 33 | uint32_t length_model_name = strlen(this->model_name); |
akashvibhute | 0:30537dec6e0b | 34 | memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 35 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 36 | memcpy(outbuffer + offset, this->model_name, length_model_name); |
akashvibhute | 0:30537dec6e0b | 37 | offset += length_model_name; |
akashvibhute | 0:30537dec6e0b | 38 | offset += this->pose.serialize(outbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 39 | offset += this->twist.serialize(outbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 40 | uint32_t length_reference_frame = strlen(this->reference_frame); |
akashvibhute | 0:30537dec6e0b | 41 | memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 42 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 43 | memcpy(outbuffer + offset, this->reference_frame, length_reference_frame); |
akashvibhute | 0:30537dec6e0b | 44 | offset += length_reference_frame; |
akashvibhute | 0:30537dec6e0b | 45 | return offset; |
akashvibhute | 0:30537dec6e0b | 46 | } |
akashvibhute | 0:30537dec6e0b | 47 | |
akashvibhute | 0:30537dec6e0b | 48 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 49 | { |
akashvibhute | 0:30537dec6e0b | 50 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 51 | uint32_t length_model_name; |
akashvibhute | 0:30537dec6e0b | 52 | memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 53 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 54 | for(unsigned int k= offset; k< offset+length_model_name; ++k){ |
akashvibhute | 0:30537dec6e0b | 55 | inbuffer[k-1]=inbuffer[k]; |
akashvibhute | 0:30537dec6e0b | 56 | } |
akashvibhute | 0:30537dec6e0b | 57 | inbuffer[offset+length_model_name-1]=0; |
akashvibhute | 0:30537dec6e0b | 58 | this->model_name = (char *)(inbuffer + offset-1); |
akashvibhute | 0:30537dec6e0b | 59 | offset += length_model_name; |
akashvibhute | 0:30537dec6e0b | 60 | offset += this->pose.deserialize(inbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 61 | offset += this->twist.deserialize(inbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 62 | uint32_t length_reference_frame; |
akashvibhute | 0:30537dec6e0b | 63 | memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t)); |
akashvibhute | 0:30537dec6e0b | 64 | offset += 4; |
akashvibhute | 0:30537dec6e0b | 65 | for(unsigned int k= offset; k< offset+length_reference_frame; ++k){ |
akashvibhute | 0:30537dec6e0b | 66 | inbuffer[k-1]=inbuffer[k]; |
akashvibhute | 0:30537dec6e0b | 67 | } |
akashvibhute | 0:30537dec6e0b | 68 | inbuffer[offset+length_reference_frame-1]=0; |
akashvibhute | 0:30537dec6e0b | 69 | this->reference_frame = (char *)(inbuffer + offset-1); |
akashvibhute | 0:30537dec6e0b | 70 | offset += length_reference_frame; |
akashvibhute | 0:30537dec6e0b | 71 | return offset; |
akashvibhute | 0:30537dec6e0b | 72 | } |
akashvibhute | 0:30537dec6e0b | 73 | |
akashvibhute | 0:30537dec6e0b | 74 | const char * getType(){ return "gazebo_msgs/ModelState"; }; |
akashvibhute | 0:30537dec6e0b | 75 | const char * getMD5(){ return "9330fd35f2fcd82d457e54bd54e10593"; }; |
akashvibhute | 0:30537dec6e0b | 76 | |
akashvibhute | 0:30537dec6e0b | 77 | }; |
akashvibhute | 0:30537dec6e0b | 78 | |
akashvibhute | 0:30537dec6e0b | 79 | } |
akashvibhute | 0:30537dec6e0b | 80 | #endif |