rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
moveit_msgs/ContactInformation.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_moveit_msgs_ContactInformation_h #define _ROS_moveit_msgs_ContactInformation_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "geometry_msgs/Point.h" #include "geometry_msgs/Vector3.h" namespace moveit_msgs { class ContactInformation : public ros::Msg { public: std_msgs::Header header; geometry_msgs::Point position; geometry_msgs::Vector3 normal; float depth; const char* contact_body_1; uint32_t body_type_1; const char* contact_body_2; uint32_t body_type_2; enum { ROBOT_LINK = 0 }; enum { WORLD_OBJECT = 1 }; enum { ROBOT_ATTACHED = 2 }; ContactInformation(): header(), position(), normal(), depth(0), contact_body_1(""), body_type_1(0), contact_body_2(""), body_type_2(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); offset += this->position.serialize(outbuffer + offset); offset += this->normal.serialize(outbuffer + offset); offset += serializeAvrFloat64(outbuffer + offset, this->depth); uint32_t length_contact_body_1 = strlen(this->contact_body_1); memcpy(outbuffer + offset, &length_contact_body_1, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->contact_body_1, length_contact_body_1); offset += length_contact_body_1; *(outbuffer + offset + 0) = (this->body_type_1 >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->body_type_1 >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->body_type_1 >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->body_type_1 >> (8 * 3)) & 0xFF; offset += sizeof(this->body_type_1); uint32_t length_contact_body_2 = strlen(this->contact_body_2); memcpy(outbuffer + offset, &length_contact_body_2, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->contact_body_2, length_contact_body_2); offset += length_contact_body_2; *(outbuffer + offset + 0) = (this->body_type_2 >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->body_type_2 >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->body_type_2 >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->body_type_2 >> (8 * 3)) & 0xFF; offset += sizeof(this->body_type_2); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); offset += this->position.deserialize(inbuffer + offset); offset += this->normal.deserialize(inbuffer + offset); offset += deserializeAvrFloat64(inbuffer + offset, &(this->depth)); uint32_t length_contact_body_1; memcpy(&length_contact_body_1, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_contact_body_1; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_contact_body_1-1]=0; this->contact_body_1 = (char *)(inbuffer + offset-1); offset += length_contact_body_1; this->body_type_1 = ((uint32_t) (*(inbuffer + offset))); this->body_type_1 |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->body_type_1 |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->body_type_1 |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->body_type_1); uint32_t length_contact_body_2; memcpy(&length_contact_body_2, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_contact_body_2; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_contact_body_2-1]=0; this->contact_body_2 = (char *)(inbuffer + offset-1); offset += length_contact_body_2; this->body_type_2 = ((uint32_t) (*(inbuffer + offset))); this->body_type_2 |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->body_type_2 |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->body_type_2 |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->body_type_2); return offset; } const char * getType(){ return "moveit_msgs/ContactInformation"; }; const char * getMD5(){ return "116228ca08b0c286ec5ca32a50fdc17b"; }; }; } #endif