SetPhysicsProperties.h

00001 #ifndef _ROS_SERVICE_SetPhysicsProperties_h
00002 #define _ROS_SERVICE_SetPhysicsProperties_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "geometry_msgs/Vector3.h"
00008 #include "gazebo_msgs/ODEPhysics.h"
00009 
00010 namespace gazebo_msgs
00011 {
00012 
00013 static const char SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
00014 
00015   class SetPhysicsPropertiesRequest : public ros::Msg
00016   {
00017     public:
00018       double time_step;
00019       double max_update_rate;
00020       geometry_msgs::Vector3 gravity;
00021       gazebo_msgs::ODEPhysics ode_config;
00022 
00023     SetPhysicsPropertiesRequest():
00024       time_step(0),
00025       max_update_rate(0),
00026       gravity(),
00027       ode_config()
00028     {
00029     }
00030 
00031     virtual int serialize(unsigned char *outbuffer) const
00032     {
00033       int offset = 0;
00034       union {
00035         double real;
00036         uint64_t base;
00037       } u_time_step;
00038       u_time_step.real = this->time_step;
00039       *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
00043       *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
00044       *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
00045       *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
00046       *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
00047       offset += sizeof(this->time_step);
00048       union {
00049         double real;
00050         uint64_t base;
00051       } u_max_update_rate;
00052       u_max_update_rate.real = this->max_update_rate;
00053       *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
00054       *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
00055       *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
00056       *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
00057       *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
00058       *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
00059       *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
00060       *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
00061       offset += sizeof(this->max_update_rate);
00062       offset += this->gravity.serialize(outbuffer + offset);
00063       offset += this->ode_config.serialize(outbuffer + offset);
00064       return offset;
00065     }
00066 
00067     virtual int deserialize(unsigned char *inbuffer)
00068     {
00069       int offset = 0;
00070       union {
00071         double real;
00072         uint64_t base;
00073       } u_time_step;
00074       u_time_step.base = 0;
00075       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00076       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00077       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00078       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00079       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00080       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00081       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00082       u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00083       this->time_step = u_time_step.real;
00084       offset += sizeof(this->time_step);
00085       union {
00086         double real;
00087         uint64_t base;
00088       } u_max_update_rate;
00089       u_max_update_rate.base = 0;
00090       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00091       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00092       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00093       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00094       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00095       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00096       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00097       u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00098       this->max_update_rate = u_max_update_rate.real;
00099       offset += sizeof(this->max_update_rate);
00100       offset += this->gravity.deserialize(inbuffer + offset);
00101       offset += this->ode_config.deserialize(inbuffer + offset);
00102      return offset;
00103     }
00104 
00105     const char * getType(){ return SETPHYSICSPROPERTIES; };
00106     const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
00107 
00108   };
00109 
00110   class SetPhysicsPropertiesResponse : public ros::Msg
00111   {
00112     public:
00113       bool success;
00114       const char* status_message;
00115 
00116     SetPhysicsPropertiesResponse():
00117       success(0),
00118       status_message("")
00119     {
00120     }
00121 
00122     virtual int serialize(unsigned char *outbuffer) const
00123     {
00124       int offset = 0;
00125       union {
00126         bool real;
00127         uint8_t base;
00128       } u_success;
00129       u_success.real = this->success;
00130       *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00131       offset += sizeof(this->success);
00132       uint32_t length_status_message = strlen(this->status_message);
00133       memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
00134       offset += 4;
00135       memcpy(outbuffer + offset, this->status_message, length_status_message);
00136       offset += length_status_message;
00137       return offset;
00138     }
00139 
00140     virtual int deserialize(unsigned char *inbuffer)
00141     {
00142       int offset = 0;
00143       union {
00144         bool real;
00145         uint8_t base;
00146       } u_success;
00147       u_success.base = 0;
00148       u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00149       this->success = u_success.real;
00150       offset += sizeof(this->success);
00151       uint32_t length_status_message;
00152       memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
00153       offset += 4;
00154       for(unsigned int k= offset; k< offset+length_status_message; ++k){
00155           inbuffer[k-1]=inbuffer[k];
00156       }
00157       inbuffer[offset+length_status_message-1]=0;
00158       this->status_message = (char *)(inbuffer + offset-1);
00159       offset += length_status_message;
00160      return offset;
00161     }
00162 
00163     const char * getType(){ return SETPHYSICSPROPERTIES; };
00164     const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
00165 
00166   };
00167 
00168   class SetPhysicsProperties {
00169     public:
00170     typedef SetPhysicsPropertiesRequest Request;
00171     typedef SetPhysicsPropertiesResponse Response;
00172   };
00173 
00174 }
00175 #endif