Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/ContactState.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_gazebo_msgs_ContactState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_gazebo_msgs_ContactState_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 #include "geometry_msgs/Wrench.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Vector3.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class ContactState : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _info_type;
garyservin 0:9e9b7db60fd5 18 _info_type info;
garyservin 0:9e9b7db60fd5 19 typedef const char* _collision1_name_type;
garyservin 0:9e9b7db60fd5 20 _collision1_name_type collision1_name;
garyservin 0:9e9b7db60fd5 21 typedef const char* _collision2_name_type;
garyservin 0:9e9b7db60fd5 22 _collision2_name_type collision2_name;
garyservin 0:9e9b7db60fd5 23 uint32_t wrenches_length;
garyservin 0:9e9b7db60fd5 24 typedef geometry_msgs::Wrench _wrenches_type;
garyservin 0:9e9b7db60fd5 25 _wrenches_type st_wrenches;
garyservin 0:9e9b7db60fd5 26 _wrenches_type * wrenches;
garyservin 0:9e9b7db60fd5 27 typedef geometry_msgs::Wrench _total_wrench_type;
garyservin 0:9e9b7db60fd5 28 _total_wrench_type total_wrench;
garyservin 0:9e9b7db60fd5 29 uint32_t contact_positions_length;
garyservin 0:9e9b7db60fd5 30 typedef geometry_msgs::Vector3 _contact_positions_type;
garyservin 0:9e9b7db60fd5 31 _contact_positions_type st_contact_positions;
garyservin 0:9e9b7db60fd5 32 _contact_positions_type * contact_positions;
garyservin 0:9e9b7db60fd5 33 uint32_t contact_normals_length;
garyservin 0:9e9b7db60fd5 34 typedef geometry_msgs::Vector3 _contact_normals_type;
garyservin 0:9e9b7db60fd5 35 _contact_normals_type st_contact_normals;
garyservin 0:9e9b7db60fd5 36 _contact_normals_type * contact_normals;
garyservin 0:9e9b7db60fd5 37 uint32_t depths_length;
garyservin 0:9e9b7db60fd5 38 typedef double _depths_type;
garyservin 0:9e9b7db60fd5 39 _depths_type st_depths;
garyservin 0:9e9b7db60fd5 40 _depths_type * depths;
garyservin 0:9e9b7db60fd5 41
garyservin 0:9e9b7db60fd5 42 ContactState():
garyservin 0:9e9b7db60fd5 43 info(""),
garyservin 0:9e9b7db60fd5 44 collision1_name(""),
garyservin 0:9e9b7db60fd5 45 collision2_name(""),
garyservin 0:9e9b7db60fd5 46 wrenches_length(0), wrenches(NULL),
garyservin 0:9e9b7db60fd5 47 total_wrench(),
garyservin 0:9e9b7db60fd5 48 contact_positions_length(0), contact_positions(NULL),
garyservin 0:9e9b7db60fd5 49 contact_normals_length(0), contact_normals(NULL),
garyservin 0:9e9b7db60fd5 50 depths_length(0), depths(NULL)
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 }
garyservin 0:9e9b7db60fd5 53
garyservin 0:9e9b7db60fd5 54 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 55 {
garyservin 0:9e9b7db60fd5 56 int offset = 0;
garyservin 0:9e9b7db60fd5 57 uint32_t length_info = strlen(this->info);
garyservin 0:9e9b7db60fd5 58 varToArr(outbuffer + offset, length_info);
garyservin 0:9e9b7db60fd5 59 offset += 4;
garyservin 0:9e9b7db60fd5 60 memcpy(outbuffer + offset, this->info, length_info);
garyservin 0:9e9b7db60fd5 61 offset += length_info;
garyservin 0:9e9b7db60fd5 62 uint32_t length_collision1_name = strlen(this->collision1_name);
garyservin 0:9e9b7db60fd5 63 varToArr(outbuffer + offset, length_collision1_name);
garyservin 0:9e9b7db60fd5 64 offset += 4;
garyservin 0:9e9b7db60fd5 65 memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
garyservin 0:9e9b7db60fd5 66 offset += length_collision1_name;
garyservin 0:9e9b7db60fd5 67 uint32_t length_collision2_name = strlen(this->collision2_name);
garyservin 0:9e9b7db60fd5 68 varToArr(outbuffer + offset, length_collision2_name);
garyservin 0:9e9b7db60fd5 69 offset += 4;
garyservin 0:9e9b7db60fd5 70 memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
garyservin 0:9e9b7db60fd5 71 offset += length_collision2_name;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 0) = (this->wrenches_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 1) = (this->wrenches_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 2) = (this->wrenches_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 3) = (this->wrenches_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->wrenches_length);
garyservin 0:9e9b7db60fd5 77 for( uint32_t i = 0; i < wrenches_length; i++){
garyservin 0:9e9b7db60fd5 78 offset += this->wrenches[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80 offset += this->total_wrench.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 0) = (this->contact_positions_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 1) = (this->contact_positions_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 2) = (this->contact_positions_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 3) = (this->contact_positions_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->contact_positions_length);
garyservin 0:9e9b7db60fd5 86 for( uint32_t i = 0; i < contact_positions_length; i++){
garyservin 0:9e9b7db60fd5 87 offset += this->contact_positions[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 0) = (this->contact_normals_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 1) = (this->contact_normals_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 2) = (this->contact_normals_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 3) = (this->contact_normals_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 offset += sizeof(this->contact_normals_length);
garyservin 0:9e9b7db60fd5 94 for( uint32_t i = 0; i < contact_normals_length; i++){
garyservin 0:9e9b7db60fd5 95 offset += this->contact_normals[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 96 }
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 0) = (this->depths_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 1) = (this->depths_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 2) = (this->depths_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 3) = (this->depths_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 offset += sizeof(this->depths_length);
garyservin 0:9e9b7db60fd5 102 for( uint32_t i = 0; i < depths_length; i++){
garyservin 0:9e9b7db60fd5 103 union {
garyservin 0:9e9b7db60fd5 104 double real;
garyservin 0:9e9b7db60fd5 105 uint64_t base;
garyservin 0:9e9b7db60fd5 106 } u_depthsi;
garyservin 0:9e9b7db60fd5 107 u_depthsi.real = this->depths[i];
garyservin 0:9e9b7db60fd5 108 *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 112 *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 offset += sizeof(this->depths[i]);
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 return offset;
garyservin 0:9e9b7db60fd5 119 }
garyservin 0:9e9b7db60fd5 120
garyservin 0:9e9b7db60fd5 121 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 122 {
garyservin 0:9e9b7db60fd5 123 int offset = 0;
garyservin 0:9e9b7db60fd5 124 uint32_t length_info;
garyservin 0:9e9b7db60fd5 125 arrToVar(length_info, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 126 offset += 4;
garyservin 0:9e9b7db60fd5 127 for(unsigned int k= offset; k< offset+length_info; ++k){
garyservin 0:9e9b7db60fd5 128 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 129 }
garyservin 0:9e9b7db60fd5 130 inbuffer[offset+length_info-1]=0;
garyservin 0:9e9b7db60fd5 131 this->info = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 132 offset += length_info;
garyservin 0:9e9b7db60fd5 133 uint32_t length_collision1_name;
garyservin 0:9e9b7db60fd5 134 arrToVar(length_collision1_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 135 offset += 4;
garyservin 0:9e9b7db60fd5 136 for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
garyservin 0:9e9b7db60fd5 137 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 138 }
garyservin 0:9e9b7db60fd5 139 inbuffer[offset+length_collision1_name-1]=0;
garyservin 0:9e9b7db60fd5 140 this->collision1_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 141 offset += length_collision1_name;
garyservin 0:9e9b7db60fd5 142 uint32_t length_collision2_name;
garyservin 0:9e9b7db60fd5 143 arrToVar(length_collision2_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 144 offset += 4;
garyservin 0:9e9b7db60fd5 145 for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
garyservin 0:9e9b7db60fd5 146 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 147 }
garyservin 0:9e9b7db60fd5 148 inbuffer[offset+length_collision2_name-1]=0;
garyservin 0:9e9b7db60fd5 149 this->collision2_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 150 offset += length_collision2_name;
garyservin 0:9e9b7db60fd5 151 uint32_t wrenches_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 152 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 153 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 154 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 155 offset += sizeof(this->wrenches_length);
garyservin 0:9e9b7db60fd5 156 if(wrenches_lengthT > wrenches_length)
garyservin 0:9e9b7db60fd5 157 this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
garyservin 0:9e9b7db60fd5 158 wrenches_length = wrenches_lengthT;
garyservin 0:9e9b7db60fd5 159 for( uint32_t i = 0; i < wrenches_length; i++){
garyservin 0:9e9b7db60fd5 160 offset += this->st_wrenches.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 161 memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163 offset += this->total_wrench.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 164 uint32_t contact_positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 165 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 166 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 167 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 168 offset += sizeof(this->contact_positions_length);
garyservin 0:9e9b7db60fd5 169 if(contact_positions_lengthT > contact_positions_length)
garyservin 0:9e9b7db60fd5 170 this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
garyservin 0:9e9b7db60fd5 171 contact_positions_length = contact_positions_lengthT;
garyservin 0:9e9b7db60fd5 172 for( uint32_t i = 0; i < contact_positions_length; i++){
garyservin 0:9e9b7db60fd5 173 offset += this->st_contact_positions.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 174 memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
garyservin 0:9e9b7db60fd5 175 }
garyservin 0:9e9b7db60fd5 176 uint32_t contact_normals_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 177 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 178 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 179 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 180 offset += sizeof(this->contact_normals_length);
garyservin 0:9e9b7db60fd5 181 if(contact_normals_lengthT > contact_normals_length)
garyservin 0:9e9b7db60fd5 182 this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
garyservin 0:9e9b7db60fd5 183 contact_normals_length = contact_normals_lengthT;
garyservin 0:9e9b7db60fd5 184 for( uint32_t i = 0; i < contact_normals_length; i++){
garyservin 0:9e9b7db60fd5 185 offset += this->st_contact_normals.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 186 memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
garyservin 0:9e9b7db60fd5 187 }
garyservin 0:9e9b7db60fd5 188 uint32_t depths_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 189 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 190 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 191 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 192 offset += sizeof(this->depths_length);
garyservin 0:9e9b7db60fd5 193 if(depths_lengthT > depths_length)
garyservin 0:9e9b7db60fd5 194 this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double));
garyservin 0:9e9b7db60fd5 195 depths_length = depths_lengthT;
garyservin 0:9e9b7db60fd5 196 for( uint32_t i = 0; i < depths_length; i++){
garyservin 0:9e9b7db60fd5 197 union {
garyservin 0:9e9b7db60fd5 198 double real;
garyservin 0:9e9b7db60fd5 199 uint64_t base;
garyservin 0:9e9b7db60fd5 200 } u_st_depths;
garyservin 0:9e9b7db60fd5 201 u_st_depths.base = 0;
garyservin 0:9e9b7db60fd5 202 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 203 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 204 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 205 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 206 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 207 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 208 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 209 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 210 this->st_depths = u_st_depths.real;
garyservin 0:9e9b7db60fd5 211 offset += sizeof(this->st_depths);
garyservin 0:9e9b7db60fd5 212 memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double));
garyservin 0:9e9b7db60fd5 213 }
garyservin 0:9e9b7db60fd5 214 return offset;
garyservin 0:9e9b7db60fd5 215 }
garyservin 0:9e9b7db60fd5 216
garyservin 0:9e9b7db60fd5 217 const char * getType(){ return "gazebo_msgs/ContactState"; };
garyservin 0:9e9b7db60fd5 218 const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
garyservin 0:9e9b7db60fd5 219
garyservin 0:9e9b7db60fd5 220 };
garyservin 0:9e9b7db60fd5 221
garyservin 0:9e9b7db60fd5 222 }
garyservin 0:9e9b7db60fd5 223 #endif