Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/ODEPhysics.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew 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