Diff: gazebo_msgs/WorldState.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/WorldState.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,138 @@
+#ifndef _ROS_gazebo_msgs_WorldState_h
+#define _ROS_gazebo_msgs_WorldState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace gazebo_msgs
+{
+
+  class WorldState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t pose_length;
+      geometry_msgs::Pose st_pose;
+      geometry_msgs::Pose * pose;
+      uint8_t twist_length;
+      geometry_msgs::Twist st_twist;
+      geometry_msgs::Twist * twist;
+      uint8_t wrench_length;
+      geometry_msgs::Wrench st_wrench;
+      geometry_msgs::Wrench * wrench;
+
+    WorldState():
+      header(),
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL),
+      wrench_length(0), wrench(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = pose_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = twist_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = wrench_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->wrench[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t pose_lengthT = *(inbuffer + offset++);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      pose_length = pose_lengthT;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint8_t twist_lengthT = *(inbuffer + offset++);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      twist_length = twist_lengthT;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+      uint8_t wrench_lengthT = *(inbuffer + offset++);
+      if(wrench_lengthT > wrench_length)
+        this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
+      offset += 3;
+      wrench_length = wrench_lengthT;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->st_wrench.deserialize(inbuffer + offset);
+        memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/WorldState"; };
+    const char * getMD5(){ return "de1a9de3ab7ba97ac0e9ec01a4eb481e"; };
+
+  };
+
+}
+#endif