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/ODEPhysics.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_ODEPhysics_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_gazebo_msgs_ODEPhysics_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
akashvibhute 0:30537dec6e0b 9 namespace gazebo_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class ODEPhysics : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 bool auto_disable_bodies;
akashvibhute 0:30537dec6e0b 16 uint32_t sor_pgs_precon_iters;
akashvibhute 0:30537dec6e0b 17 uint32_t sor_pgs_iters;
akashvibhute 0:30537dec6e0b 18 float sor_pgs_w;
akashvibhute 0:30537dec6e0b 19 float sor_pgs_rms_error_tol;
akashvibhute 0:30537dec6e0b 20 float contact_surface_layer;
akashvibhute 0:30537dec6e0b 21 float contact_max_correcting_vel;
akashvibhute 0:30537dec6e0b 22 float cfm;
akashvibhute 0:30537dec6e0b 23 float erp;
akashvibhute 0:30537dec6e0b 24 uint32_t max_contacts;
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 ODEPhysics():
akashvibhute 0:30537dec6e0b 27 auto_disable_bodies(0),
akashvibhute 0:30537dec6e0b 28 sor_pgs_precon_iters(0),
akashvibhute 0:30537dec6e0b 29 sor_pgs_iters(0),
akashvibhute 0:30537dec6e0b 30 sor_pgs_w(0),
akashvibhute 0:30537dec6e0b 31 sor_pgs_rms_error_tol(0),
akashvibhute 0:30537dec6e0b 32 contact_surface_layer(0),
akashvibhute 0:30537dec6e0b 33 contact_max_correcting_vel(0),
akashvibhute 0:30537dec6e0b 34 cfm(0),
akashvibhute 0:30537dec6e0b 35 erp(0),
akashvibhute 0:30537dec6e0b 36 max_contacts(0)
akashvibhute 0:30537dec6e0b 37 {
akashvibhute 0:30537dec6e0b 38 }
akashvibhute 0:30537dec6e0b 39
akashvibhute 0:30537dec6e0b 40 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 41 {
akashvibhute 0:30537dec6e0b 42 int offset = 0;
akashvibhute 0:30537dec6e0b 43 union {
akashvibhute 0:30537dec6e0b 44 bool real;
akashvibhute 0:30537dec6e0b 45 uint8_t base;
akashvibhute 0:30537dec6e0b 46 } u_auto_disable_bodies;
akashvibhute 0:30537dec6e0b 47 u_auto_disable_bodies.real = this->auto_disable_bodies;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 49 offset += sizeof(this->auto_disable_bodies);
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 54 offset += sizeof(this->sor_pgs_precon_iters);
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 59 offset += sizeof(this->sor_pgs_iters);
akashvibhute 0:30537dec6e0b 60 offset += serializeAvrFloat64(outbuffer + offset, this->sor_pgs_w);
akashvibhute 0:30537dec6e0b 61 offset += serializeAvrFloat64(outbuffer + offset, this->sor_pgs_rms_error_tol);
akashvibhute 0:30537dec6e0b 62 offset += serializeAvrFloat64(outbuffer + offset, this->contact_surface_layer);
akashvibhute 0:30537dec6e0b 63 offset += serializeAvrFloat64(outbuffer + offset, this->contact_max_correcting_vel);
akashvibhute 0:30537dec6e0b 64 offset += serializeAvrFloat64(outbuffer + offset, this->cfm);
akashvibhute 0:30537dec6e0b 65 offset += serializeAvrFloat64(outbuffer + offset, this->erp);
akashvibhute 0:30537dec6e0b 66 *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 70 offset += sizeof(this->max_contacts);
akashvibhute 0:30537dec6e0b 71 return offset;
akashvibhute 0:30537dec6e0b 72 }
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 75 {
akashvibhute 0:30537dec6e0b 76 int offset = 0;
akashvibhute 0:30537dec6e0b 77 union {
akashvibhute 0:30537dec6e0b 78 bool real;
akashvibhute 0:30537dec6e0b 79 uint8_t base;
akashvibhute 0:30537dec6e0b 80 } u_auto_disable_bodies;
akashvibhute 0:30537dec6e0b 81 u_auto_disable_bodies.base = 0;
akashvibhute 0:30537dec6e0b 82 u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 83 this->auto_disable_bodies = u_auto_disable_bodies.real;
akashvibhute 0:30537dec6e0b 84 offset += sizeof(this->auto_disable_bodies);
akashvibhute 0:30537dec6e0b 85 this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 86 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 87 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 88 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 89 offset += sizeof(this->sor_pgs_precon_iters);
akashvibhute 0:30537dec6e0b 90 this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 91 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 92 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 93 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 94 offset += sizeof(this->sor_pgs_iters);
akashvibhute 0:30537dec6e0b 95 offset += deserializeAvrFloat64(inbuffer + offset, &(this->sor_pgs_w));
akashvibhute 0:30537dec6e0b 96 offset += deserializeAvrFloat64(inbuffer + offset, &(this->sor_pgs_rms_error_tol));
akashvibhute 0:30537dec6e0b 97 offset += deserializeAvrFloat64(inbuffer + offset, &(this->contact_surface_layer));
akashvibhute 0:30537dec6e0b 98 offset += deserializeAvrFloat64(inbuffer + offset, &(this->contact_max_correcting_vel));
akashvibhute 0:30537dec6e0b 99 offset += deserializeAvrFloat64(inbuffer + offset, &(this->cfm));
akashvibhute 0:30537dec6e0b 100 offset += deserializeAvrFloat64(inbuffer + offset, &(this->erp));
akashvibhute 0:30537dec6e0b 101 this->max_contacts = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 102 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 103 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 104 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 105 offset += sizeof(this->max_contacts);
akashvibhute 0:30537dec6e0b 106 return offset;
akashvibhute 0:30537dec6e0b 107 }
akashvibhute 0:30537dec6e0b 108
akashvibhute 0:30537dec6e0b 109 const char * getType(){ return "gazebo_msgs/ODEPhysics"; };
akashvibhute 0:30537dec6e0b 110 const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; };
akashvibhute 0:30537dec6e0b 111
akashvibhute 0:30537dec6e0b 112 };
akashvibhute 0:30537dec6e0b 113
akashvibhute 0:30537dec6e0b 114 }
akashvibhute 0:30537dec6e0b 115 #endif