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/ContactState.h
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#ifndef _ROS_gazebo_msgs_ContactState_h #define _ROS_gazebo_msgs_ContactState_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/Wrench.h" #include "geometry_msgs/Vector3.h" namespace gazebo_msgs { class ContactState : public ros::Msg { public: typedef const char* _info_type; _info_type info; typedef const char* _collision1_name_type; _collision1_name_type collision1_name; typedef const char* _collision2_name_type; _collision2_name_type collision2_name; uint32_t wrenches_length; typedef geometry_msgs::Wrench _wrenches_type; _wrenches_type st_wrenches; _wrenches_type * wrenches; typedef geometry_msgs::Wrench _total_wrench_type; _total_wrench_type total_wrench; uint32_t contact_positions_length; typedef geometry_msgs::Vector3 _contact_positions_type; _contact_positions_type st_contact_positions; _contact_positions_type * contact_positions; uint32_t contact_normals_length; typedef geometry_msgs::Vector3 _contact_normals_type; _contact_normals_type st_contact_normals; _contact_normals_type * contact_normals; uint32_t depths_length; typedef double _depths_type; _depths_type st_depths; _depths_type * depths; ContactState(): info(""), collision1_name(""), collision2_name(""), wrenches_length(0), wrenches(NULL), total_wrench(), contact_positions_length(0), contact_positions(NULL), contact_normals_length(0), contact_normals(NULL), depths_length(0), depths(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_info = strlen(this->info); varToArr(outbuffer + offset, length_info); offset += 4; memcpy(outbuffer + offset, this->info, length_info); offset += length_info; uint32_t length_collision1_name = strlen(this->collision1_name); varToArr(outbuffer + offset, length_collision1_name); offset += 4; memcpy(outbuffer + offset, this->collision1_name, length_collision1_name); offset += length_collision1_name; uint32_t length_collision2_name = strlen(this->collision2_name); varToArr(outbuffer + offset, length_collision2_name); offset += 4; memcpy(outbuffer + offset, this->collision2_name, length_collision2_name); offset += length_collision2_name; *(outbuffer + offset + 0) = (this->wrenches_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->wrenches_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->wrenches_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->wrenches_length >> (8 * 3)) & 0xFF; offset += sizeof(this->wrenches_length); for( uint32_t i = 0; i < wrenches_length; i++){ offset += this->wrenches[i].serialize(outbuffer + offset); } offset += this->total_wrench.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->contact_positions_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->contact_positions_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->contact_positions_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->contact_positions_length >> (8 * 3)) & 0xFF; offset += sizeof(this->contact_positions_length); for( uint32_t i = 0; i < contact_positions_length; i++){ offset += this->contact_positions[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->contact_normals_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->contact_normals_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->contact_normals_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->contact_normals_length >> (8 * 3)) & 0xFF; offset += sizeof(this->contact_normals_length); for( uint32_t i = 0; i < contact_normals_length; i++){ offset += this->contact_normals[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->depths_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->depths_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->depths_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->depths_length >> (8 * 3)) & 0xFF; offset += sizeof(this->depths_length); for( uint32_t i = 0; i < depths_length; i++){ union { double real; uint64_t base; } u_depthsi; u_depthsi.real = this->depths[i]; *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF; offset += sizeof(this->depths[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_info; arrToVar(length_info, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_info; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_info-1]=0; this->info = (char *)(inbuffer + offset-1); offset += length_info; uint32_t length_collision1_name; arrToVar(length_collision1_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_collision1_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_collision1_name-1]=0; this->collision1_name = (char *)(inbuffer + offset-1); offset += length_collision1_name; uint32_t length_collision2_name; arrToVar(length_collision2_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_collision2_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_collision2_name-1]=0; this->collision2_name = (char *)(inbuffer + offset-1); offset += length_collision2_name; uint32_t wrenches_lengthT = ((uint32_t) (*(inbuffer + offset))); wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->wrenches_length); if(wrenches_lengthT > wrenches_length) this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench)); wrenches_length = wrenches_lengthT; for( uint32_t i = 0; i < wrenches_length; i++){ offset += this->st_wrenches.deserialize(inbuffer + offset); memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench)); } offset += this->total_wrench.deserialize(inbuffer + offset); uint32_t contact_positions_lengthT = ((uint32_t) (*(inbuffer + offset))); contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->contact_positions_length); if(contact_positions_lengthT > contact_positions_length) this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3)); contact_positions_length = contact_positions_lengthT; for( uint32_t i = 0; i < contact_positions_length; i++){ offset += this->st_contact_positions.deserialize(inbuffer + offset); memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3)); } uint32_t contact_normals_lengthT = ((uint32_t) (*(inbuffer + offset))); contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->contact_normals_length); if(contact_normals_lengthT > contact_normals_length) this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3)); contact_normals_length = contact_normals_lengthT; for( uint32_t i = 0; i < contact_normals_length; i++){ offset += this->st_contact_normals.deserialize(inbuffer + offset); memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3)); } uint32_t depths_lengthT = ((uint32_t) (*(inbuffer + offset))); depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->depths_length); if(depths_lengthT > depths_length) this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double)); depths_length = depths_lengthT; for( uint32_t i = 0; i < depths_length; i++){ union { double real; uint64_t base; } u_st_depths; u_st_depths.base = 0; u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->st_depths = u_st_depths.real; offset += sizeof(this->st_depths); memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double)); } return offset; } const char * getType(){ return "gazebo_msgs/ContactState"; }; const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; }; }; } #endif