Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/GetModelState.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_SERVICE_GetModelState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_GetModelState_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 8 #include "geometry_msgs/Twist.h"
garyservin 0:9e9b7db60fd5 9 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 static const char GETMODELSTATE[] = "gazebo_msgs/GetModelState";
garyservin 0:9e9b7db60fd5 15
garyservin 0:9e9b7db60fd5 16 class GetModelStateRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 17 {
garyservin 0:9e9b7db60fd5 18 public:
garyservin 0:9e9b7db60fd5 19 typedef const char* _model_name_type;
garyservin 0:9e9b7db60fd5 20 _model_name_type model_name;
garyservin 0:9e9b7db60fd5 21 typedef const char* _relative_entity_name_type;
garyservin 0:9e9b7db60fd5 22 _relative_entity_name_type relative_entity_name;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 GetModelStateRequest():
garyservin 0:9e9b7db60fd5 25 model_name(""),
garyservin 0:9e9b7db60fd5 26 relative_entity_name("")
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 }
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 int offset = 0;
garyservin 0:9e9b7db60fd5 33 uint32_t length_model_name = strlen(this->model_name);
garyservin 0:9e9b7db60fd5 34 varToArr(outbuffer + offset, length_model_name);
garyservin 0:9e9b7db60fd5 35 offset += 4;
garyservin 0:9e9b7db60fd5 36 memcpy(outbuffer + offset, this->model_name, length_model_name);
garyservin 0:9e9b7db60fd5 37 offset += length_model_name;
garyservin 0:9e9b7db60fd5 38 uint32_t length_relative_entity_name = strlen(this->relative_entity_name);
garyservin 0:9e9b7db60fd5 39 varToArr(outbuffer + offset, length_relative_entity_name);
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 memcpy(outbuffer + offset, this->relative_entity_name, length_relative_entity_name);
garyservin 0:9e9b7db60fd5 42 offset += length_relative_entity_name;
garyservin 0:9e9b7db60fd5 43 return offset;
garyservin 0:9e9b7db60fd5 44 }
garyservin 0:9e9b7db60fd5 45
garyservin 0:9e9b7db60fd5 46 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 47 {
garyservin 0:9e9b7db60fd5 48 int offset = 0;
garyservin 0:9e9b7db60fd5 49 uint32_t length_model_name;
garyservin 0:9e9b7db60fd5 50 arrToVar(length_model_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 51 offset += 4;
garyservin 0:9e9b7db60fd5 52 for(unsigned int k= offset; k< offset+length_model_name; ++k){
garyservin 0:9e9b7db60fd5 53 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 inbuffer[offset+length_model_name-1]=0;
garyservin 0:9e9b7db60fd5 56 this->model_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 57 offset += length_model_name;
garyservin 0:9e9b7db60fd5 58 uint32_t length_relative_entity_name;
garyservin 0:9e9b7db60fd5 59 arrToVar(length_relative_entity_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 60 offset += 4;
garyservin 0:9e9b7db60fd5 61 for(unsigned int k= offset; k< offset+length_relative_entity_name; ++k){
garyservin 0:9e9b7db60fd5 62 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64 inbuffer[offset+length_relative_entity_name-1]=0;
garyservin 0:9e9b7db60fd5 65 this->relative_entity_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 66 offset += length_relative_entity_name;
garyservin 0:9e9b7db60fd5 67 return offset;
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 const char * getType(){ return GETMODELSTATE; };
garyservin 0:9e9b7db60fd5 71 const char * getMD5(){ return "19d412713cefe4a67437e17a951e759e"; };
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 };
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 class GetModelStateResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 76 {
garyservin 0:9e9b7db60fd5 77 public:
garyservin 0:9e9b7db60fd5 78 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 79 _header_type header;
garyservin 0:9e9b7db60fd5 80 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 81 _pose_type pose;
garyservin 0:9e9b7db60fd5 82 typedef geometry_msgs::Twist _twist_type;
garyservin 0:9e9b7db60fd5 83 _twist_type twist;
garyservin 0:9e9b7db60fd5 84 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 85 _success_type success;
garyservin 0:9e9b7db60fd5 86 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 87 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 88
garyservin 0:9e9b7db60fd5 89 GetModelStateResponse():
garyservin 0:9e9b7db60fd5 90 header(),
garyservin 0:9e9b7db60fd5 91 pose(),
garyservin 0:9e9b7db60fd5 92 twist(),
garyservin 0:9e9b7db60fd5 93 success(0),
garyservin 0:9e9b7db60fd5 94 status_message("")
garyservin 0:9e9b7db60fd5 95 {
garyservin 0:9e9b7db60fd5 96 }
garyservin 0:9e9b7db60fd5 97
garyservin 0:9e9b7db60fd5 98 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 99 {
garyservin 0:9e9b7db60fd5 100 int offset = 0;
garyservin 0:9e9b7db60fd5 101 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 102 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 103 offset += this->twist.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 104 union {
garyservin 0:9e9b7db60fd5 105 bool real;
garyservin 0:9e9b7db60fd5 106 uint8_t base;
garyservin 0:9e9b7db60fd5 107 } u_success;
garyservin 0:9e9b7db60fd5 108 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 111 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 112 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 113 offset += 4;
garyservin 0:9e9b7db60fd5 114 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 115 offset += length_status_message;
garyservin 0:9e9b7db60fd5 116 return offset;
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118
garyservin 0:9e9b7db60fd5 119 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 120 {
garyservin 0:9e9b7db60fd5 121 int offset = 0;
garyservin 0:9e9b7db60fd5 122 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 123 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 124 offset += this->twist.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 125 union {
garyservin 0:9e9b7db60fd5 126 bool real;
garyservin 0:9e9b7db60fd5 127 uint8_t base;
garyservin 0:9e9b7db60fd5 128 } u_success;
garyservin 0:9e9b7db60fd5 129 u_success.base = 0;
garyservin 0:9e9b7db60fd5 130 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 131 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 132 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 133 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 134 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 135 offset += 4;
garyservin 0:9e9b7db60fd5 136 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 137 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 138 }
garyservin 0:9e9b7db60fd5 139 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 140 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 141 offset += length_status_message;
garyservin 0:9e9b7db60fd5 142 return offset;
garyservin 0:9e9b7db60fd5 143 }
garyservin 0:9e9b7db60fd5 144
garyservin 0:9e9b7db60fd5 145 const char * getType(){ return GETMODELSTATE; };
garyservin 0:9e9b7db60fd5 146 const char * getMD5(){ return "ccd51739bb00f0141629e87b792e92b9"; };
garyservin 0:9e9b7db60fd5 147
garyservin 0:9e9b7db60fd5 148 };
garyservin 0:9e9b7db60fd5 149
garyservin 0:9e9b7db60fd5 150 class GetModelState {
garyservin 0:9e9b7db60fd5 151 public:
garyservin 0:9e9b7db60fd5 152 typedef GetModelStateRequest Request;
garyservin 0:9e9b7db60fd5 153 typedef GetModelStateResponse Response;
garyservin 0:9e9b7db60fd5 154 };
garyservin 0:9e9b7db60fd5 155
garyservin 0:9e9b7db60fd5 156 }
garyservin 0:9e9b7db60fd5 157 #endif