ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
gazebo_msgs/ODEPhysics.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_gazebo_msgs_ODEPhysics_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_gazebo_msgs_ODEPhysics_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace gazebo_msgs |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | class ODEPhysics : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | public: |
garyservin | 0:9e9b7db60fd5 | 15 | typedef bool _auto_disable_bodies_type; |
garyservin | 0:9e9b7db60fd5 | 16 | _auto_disable_bodies_type auto_disable_bodies; |
garyservin | 0:9e9b7db60fd5 | 17 | typedef uint32_t _sor_pgs_precon_iters_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _sor_pgs_precon_iters_type sor_pgs_precon_iters; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef uint32_t _sor_pgs_iters_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _sor_pgs_iters_type sor_pgs_iters; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef double _sor_pgs_w_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _sor_pgs_w_type sor_pgs_w; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef double _sor_pgs_rms_error_tol_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _sor_pgs_rms_error_tol_type sor_pgs_rms_error_tol; |
garyservin | 0:9e9b7db60fd5 | 25 | typedef double _contact_surface_layer_type; |
garyservin | 0:9e9b7db60fd5 | 26 | _contact_surface_layer_type contact_surface_layer; |
garyservin | 0:9e9b7db60fd5 | 27 | typedef double _contact_max_correcting_vel_type; |
garyservin | 0:9e9b7db60fd5 | 28 | _contact_max_correcting_vel_type contact_max_correcting_vel; |
garyservin | 0:9e9b7db60fd5 | 29 | typedef double _cfm_type; |
garyservin | 0:9e9b7db60fd5 | 30 | _cfm_type cfm; |
garyservin | 0:9e9b7db60fd5 | 31 | typedef double _erp_type; |
garyservin | 0:9e9b7db60fd5 | 32 | _erp_type erp; |
garyservin | 0:9e9b7db60fd5 | 33 | typedef uint32_t _max_contacts_type; |
garyservin | 0:9e9b7db60fd5 | 34 | _max_contacts_type max_contacts; |
garyservin | 0:9e9b7db60fd5 | 35 | |
garyservin | 0:9e9b7db60fd5 | 36 | ODEPhysics(): |
garyservin | 0:9e9b7db60fd5 | 37 | auto_disable_bodies(0), |
garyservin | 0:9e9b7db60fd5 | 38 | sor_pgs_precon_iters(0), |
garyservin | 0:9e9b7db60fd5 | 39 | sor_pgs_iters(0), |
garyservin | 0:9e9b7db60fd5 | 40 | sor_pgs_w(0), |
garyservin | 0:9e9b7db60fd5 | 41 | sor_pgs_rms_error_tol(0), |
garyservin | 0:9e9b7db60fd5 | 42 | contact_surface_layer(0), |
garyservin | 0:9e9b7db60fd5 | 43 | contact_max_correcting_vel(0), |
garyservin | 0:9e9b7db60fd5 | 44 | cfm(0), |
garyservin | 0:9e9b7db60fd5 | 45 | erp(0), |
garyservin | 0:9e9b7db60fd5 | 46 | max_contacts(0) |
garyservin | 0:9e9b7db60fd5 | 47 | { |
garyservin | 0:9e9b7db60fd5 | 48 | } |
garyservin | 0:9e9b7db60fd5 | 49 | |
garyservin | 0:9e9b7db60fd5 | 50 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 51 | { |
garyservin | 0:9e9b7db60fd5 | 52 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 53 | union { |
garyservin | 0:9e9b7db60fd5 | 54 | bool real; |
garyservin | 0:9e9b7db60fd5 | 55 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 56 | } u_auto_disable_bodies; |
garyservin | 0:9e9b7db60fd5 | 57 | u_auto_disable_bodies.real = this->auto_disable_bodies; |
garyservin | 0:9e9b7db60fd5 | 58 | *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 59 | offset += sizeof(this->auto_disable_bodies); |
garyservin | 0:9e9b7db60fd5 | 60 | *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 61 | *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 62 | *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | offset += sizeof(this->sor_pgs_precon_iters); |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 68 | *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 69 | offset += sizeof(this->sor_pgs_iters); |
garyservin | 0:9e9b7db60fd5 | 70 | union { |
garyservin | 0:9e9b7db60fd5 | 71 | double real; |
garyservin | 0:9e9b7db60fd5 | 72 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 73 | } u_sor_pgs_w; |
garyservin | 0:9e9b7db60fd5 | 74 | u_sor_pgs_w.real = this->sor_pgs_w; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 78 | *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 79 | *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 80 | *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 81 | *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 82 | *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 83 | offset += sizeof(this->sor_pgs_w); |
garyservin | 0:9e9b7db60fd5 | 84 | union { |
garyservin | 0:9e9b7db60fd5 | 85 | double real; |
garyservin | 0:9e9b7db60fd5 | 86 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 87 | } u_sor_pgs_rms_error_tol; |
garyservin | 0:9e9b7db60fd5 | 88 | u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol; |
garyservin | 0:9e9b7db60fd5 | 89 | *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 90 | *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 91 | *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 92 | *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 93 | *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 94 | *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 95 | *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 96 | *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 97 | offset += sizeof(this->sor_pgs_rms_error_tol); |
garyservin | 0:9e9b7db60fd5 | 98 | union { |
garyservin | 0:9e9b7db60fd5 | 99 | double real; |
garyservin | 0:9e9b7db60fd5 | 100 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 101 | } u_contact_surface_layer; |
garyservin | 0:9e9b7db60fd5 | 102 | u_contact_surface_layer.real = this->contact_surface_layer; |
garyservin | 0:9e9b7db60fd5 | 103 | *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 104 | *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 105 | *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 106 | *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 107 | *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 108 | *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 109 | *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 110 | *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 111 | offset += sizeof(this->contact_surface_layer); |
garyservin | 0:9e9b7db60fd5 | 112 | union { |
garyservin | 0:9e9b7db60fd5 | 113 | double real; |
garyservin | 0:9e9b7db60fd5 | 114 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 115 | } u_contact_max_correcting_vel; |
garyservin | 0:9e9b7db60fd5 | 116 | u_contact_max_correcting_vel.real = this->contact_max_correcting_vel; |
garyservin | 0:9e9b7db60fd5 | 117 | *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 118 | *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 119 | *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 120 | *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 121 | *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 122 | *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 123 | *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 124 | *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 125 | offset += sizeof(this->contact_max_correcting_vel); |
garyservin | 0:9e9b7db60fd5 | 126 | union { |
garyservin | 0:9e9b7db60fd5 | 127 | double real; |
garyservin | 0:9e9b7db60fd5 | 128 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 129 | } u_cfm; |
garyservin | 0:9e9b7db60fd5 | 130 | u_cfm.real = this->cfm; |
garyservin | 0:9e9b7db60fd5 | 131 | *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 132 | *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 133 | *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 134 | *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 135 | *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 136 | *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 137 | *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 138 | *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 139 | offset += sizeof(this->cfm); |
garyservin | 0:9e9b7db60fd5 | 140 | union { |
garyservin | 0:9e9b7db60fd5 | 141 | double real; |
garyservin | 0:9e9b7db60fd5 | 142 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 143 | } u_erp; |
garyservin | 0:9e9b7db60fd5 | 144 | u_erp.real = this->erp; |
garyservin | 0:9e9b7db60fd5 | 145 | *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 146 | *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 147 | *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 148 | *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 149 | *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 150 | *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 151 | *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 152 | *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 153 | offset += sizeof(this->erp); |
garyservin | 0:9e9b7db60fd5 | 154 | *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 155 | *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 156 | *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 157 | *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 158 | offset += sizeof(this->max_contacts); |
garyservin | 0:9e9b7db60fd5 | 159 | return offset; |
garyservin | 0:9e9b7db60fd5 | 160 | } |
garyservin | 0:9e9b7db60fd5 | 161 | |
garyservin | 0:9e9b7db60fd5 | 162 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 163 | { |
garyservin | 0:9e9b7db60fd5 | 164 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 165 | union { |
garyservin | 0:9e9b7db60fd5 | 166 | bool real; |
garyservin | 0:9e9b7db60fd5 | 167 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 168 | } u_auto_disable_bodies; |
garyservin | 0:9e9b7db60fd5 | 169 | u_auto_disable_bodies.base = 0; |
garyservin | 0:9e9b7db60fd5 | 170 | u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 171 | this->auto_disable_bodies = u_auto_disable_bodies.real; |
garyservin | 0:9e9b7db60fd5 | 172 | offset += sizeof(this->auto_disable_bodies); |
garyservin | 0:9e9b7db60fd5 | 173 | this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 174 | this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 175 | this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 176 | this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 177 | offset += sizeof(this->sor_pgs_precon_iters); |
garyservin | 0:9e9b7db60fd5 | 178 | this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 179 | this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 180 | this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 181 | this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 182 | offset += sizeof(this->sor_pgs_iters); |
garyservin | 0:9e9b7db60fd5 | 183 | union { |
garyservin | 0:9e9b7db60fd5 | 184 | double real; |
garyservin | 0:9e9b7db60fd5 | 185 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 186 | } u_sor_pgs_w; |
garyservin | 0:9e9b7db60fd5 | 187 | u_sor_pgs_w.base = 0; |
garyservin | 0:9e9b7db60fd5 | 188 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 189 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 190 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 191 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 192 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 193 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 194 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 195 | u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 196 | this->sor_pgs_w = u_sor_pgs_w.real; |
garyservin | 0:9e9b7db60fd5 | 197 | offset += sizeof(this->sor_pgs_w); |
garyservin | 0:9e9b7db60fd5 | 198 | union { |
garyservin | 0:9e9b7db60fd5 | 199 | double real; |
garyservin | 0:9e9b7db60fd5 | 200 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 201 | } u_sor_pgs_rms_error_tol; |
garyservin | 0:9e9b7db60fd5 | 202 | u_sor_pgs_rms_error_tol.base = 0; |
garyservin | 0:9e9b7db60fd5 | 203 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 204 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 205 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 206 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 207 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 208 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 209 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 210 | u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 211 | this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real; |
garyservin | 0:9e9b7db60fd5 | 212 | offset += sizeof(this->sor_pgs_rms_error_tol); |
garyservin | 0:9e9b7db60fd5 | 213 | union { |
garyservin | 0:9e9b7db60fd5 | 214 | double real; |
garyservin | 0:9e9b7db60fd5 | 215 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 216 | } u_contact_surface_layer; |
garyservin | 0:9e9b7db60fd5 | 217 | u_contact_surface_layer.base = 0; |
garyservin | 0:9e9b7db60fd5 | 218 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 219 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 220 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 221 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 222 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 223 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 224 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 225 | u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 226 | this->contact_surface_layer = u_contact_surface_layer.real; |
garyservin | 0:9e9b7db60fd5 | 227 | offset += sizeof(this->contact_surface_layer); |
garyservin | 0:9e9b7db60fd5 | 228 | union { |
garyservin | 0:9e9b7db60fd5 | 229 | double real; |
garyservin | 0:9e9b7db60fd5 | 230 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 231 | } u_contact_max_correcting_vel; |
garyservin | 0:9e9b7db60fd5 | 232 | u_contact_max_correcting_vel.base = 0; |
garyservin | 0:9e9b7db60fd5 | 233 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 234 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 235 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 236 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 237 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 238 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 239 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 240 | u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 241 | this->contact_max_correcting_vel = u_contact_max_correcting_vel.real; |
garyservin | 0:9e9b7db60fd5 | 242 | offset += sizeof(this->contact_max_correcting_vel); |
garyservin | 0:9e9b7db60fd5 | 243 | union { |
garyservin | 0:9e9b7db60fd5 | 244 | double real; |
garyservin | 0:9e9b7db60fd5 | 245 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 246 | } u_cfm; |
garyservin | 0:9e9b7db60fd5 | 247 | u_cfm.base = 0; |
garyservin | 0:9e9b7db60fd5 | 248 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 249 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 250 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 251 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 252 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 253 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 254 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 255 | u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 256 | this->cfm = u_cfm.real; |
garyservin | 0:9e9b7db60fd5 | 257 | offset += sizeof(this->cfm); |
garyservin | 0:9e9b7db60fd5 | 258 | union { |
garyservin | 0:9e9b7db60fd5 | 259 | double real; |
garyservin | 0:9e9b7db60fd5 | 260 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 261 | } u_erp; |
garyservin | 0:9e9b7db60fd5 | 262 | u_erp.base = 0; |
garyservin | 0:9e9b7db60fd5 | 263 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 264 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 265 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 266 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 267 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 268 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 269 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 270 | u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 271 | this->erp = u_erp.real; |
garyservin | 0:9e9b7db60fd5 | 272 | offset += sizeof(this->erp); |
garyservin | 0:9e9b7db60fd5 | 273 | this->max_contacts = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 274 | this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 275 | this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 276 | this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 277 | offset += sizeof(this->max_contacts); |
garyservin | 0:9e9b7db60fd5 | 278 | return offset; |
garyservin | 0:9e9b7db60fd5 | 279 | } |
garyservin | 0:9e9b7db60fd5 | 280 | |
garyservin | 0:9e9b7db60fd5 | 281 | const char * getType(){ return "gazebo_msgs/ODEPhysics"; }; |
garyservin | 0:9e9b7db60fd5 | 282 | const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; }; |
garyservin | 0:9e9b7db60fd5 | 283 | |
garyservin | 0:9e9b7db60fd5 | 284 | }; |
garyservin | 0:9e9b7db60fd5 | 285 | |
garyservin | 0:9e9b7db60fd5 | 286 | } |
garyservin | 0:9e9b7db60fd5 | 287 | #endif |