Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/GetPhysicsProperties.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_GetPhysicsProperties_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_GetPhysicsProperties_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/Vector3.h"
garyservin 0:9e9b7db60fd5 8 #include "gazebo_msgs/ODEPhysics.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class GetPhysicsPropertiesRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18
garyservin 0:9e9b7db60fd5 19 GetPhysicsPropertiesRequest()
garyservin 0:9e9b7db60fd5 20 {
garyservin 0:9e9b7db60fd5 21 }
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 24 {
garyservin 0:9e9b7db60fd5 25 int offset = 0;
garyservin 0:9e9b7db60fd5 26 return offset;
garyservin 0:9e9b7db60fd5 27 }
garyservin 0:9e9b7db60fd5 28
garyservin 0:9e9b7db60fd5 29 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 int offset = 0;
garyservin 0:9e9b7db60fd5 32 return offset;
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 const char * getType(){ return GETPHYSICSPROPERTIES; };
garyservin 0:9e9b7db60fd5 36 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 };
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 class GetPhysicsPropertiesResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 public:
garyservin 0:9e9b7db60fd5 43 typedef double _time_step_type;
garyservin 0:9e9b7db60fd5 44 _time_step_type time_step;
garyservin 0:9e9b7db60fd5 45 typedef bool _pause_type;
garyservin 0:9e9b7db60fd5 46 _pause_type pause;
garyservin 0:9e9b7db60fd5 47 typedef double _max_update_rate_type;
garyservin 0:9e9b7db60fd5 48 _max_update_rate_type max_update_rate;
garyservin 0:9e9b7db60fd5 49 typedef geometry_msgs::Vector3 _gravity_type;
garyservin 0:9e9b7db60fd5 50 _gravity_type gravity;
garyservin 0:9e9b7db60fd5 51 typedef gazebo_msgs::ODEPhysics _ode_config_type;
garyservin 0:9e9b7db60fd5 52 _ode_config_type ode_config;
garyservin 0:9e9b7db60fd5 53 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 54 _success_type success;
garyservin 0:9e9b7db60fd5 55 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 56 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 57
garyservin 0:9e9b7db60fd5 58 GetPhysicsPropertiesResponse():
garyservin 0:9e9b7db60fd5 59 time_step(0),
garyservin 0:9e9b7db60fd5 60 pause(0),
garyservin 0:9e9b7db60fd5 61 max_update_rate(0),
garyservin 0:9e9b7db60fd5 62 gravity(),
garyservin 0:9e9b7db60fd5 63 ode_config(),
garyservin 0:9e9b7db60fd5 64 success(0),
garyservin 0:9e9b7db60fd5 65 status_message("")
garyservin 0:9e9b7db60fd5 66 {
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 70 {
garyservin 0:9e9b7db60fd5 71 int offset = 0;
garyservin 0:9e9b7db60fd5 72 union {
garyservin 0:9e9b7db60fd5 73 double real;
garyservin 0:9e9b7db60fd5 74 uint64_t base;
garyservin 0:9e9b7db60fd5 75 } u_time_step;
garyservin 0:9e9b7db60fd5 76 u_time_step.real = this->time_step;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 86 union {
garyservin 0:9e9b7db60fd5 87 bool real;
garyservin 0:9e9b7db60fd5 88 uint8_t base;
garyservin 0:9e9b7db60fd5 89 } u_pause;
garyservin 0:9e9b7db60fd5 90 u_pause.real = this->pause;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->pause);
garyservin 0:9e9b7db60fd5 93 union {
garyservin 0:9e9b7db60fd5 94 double real;
garyservin 0:9e9b7db60fd5 95 uint64_t base;
garyservin 0:9e9b7db60fd5 96 } u_max_update_rate;
garyservin 0:9e9b7db60fd5 97 u_max_update_rate.real = this->max_update_rate;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->max_update_rate);
garyservin 0:9e9b7db60fd5 107 offset += this->gravity.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 108 offset += this->ode_config.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 109 union {
garyservin 0:9e9b7db60fd5 110 bool real;
garyservin 0:9e9b7db60fd5 111 uint8_t base;
garyservin 0:9e9b7db60fd5 112 } u_success;
garyservin 0:9e9b7db60fd5 113 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 116 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 117 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 118 offset += 4;
garyservin 0:9e9b7db60fd5 119 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 120 offset += length_status_message;
garyservin 0:9e9b7db60fd5 121 return offset;
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123
garyservin 0:9e9b7db60fd5 124 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 125 {
garyservin 0:9e9b7db60fd5 126 int offset = 0;
garyservin 0:9e9b7db60fd5 127 union {
garyservin 0:9e9b7db60fd5 128 double real;
garyservin 0:9e9b7db60fd5 129 uint64_t base;
garyservin 0:9e9b7db60fd5 130 } u_time_step;
garyservin 0:9e9b7db60fd5 131 u_time_step.base = 0;
garyservin 0:9e9b7db60fd5 132 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 133 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 134 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 135 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 136 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 137 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 138 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 139 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 140 this->time_step = u_time_step.real;
garyservin 0:9e9b7db60fd5 141 offset += sizeof(this->time_step);
garyservin 0:9e9b7db60fd5 142 union {
garyservin 0:9e9b7db60fd5 143 bool real;
garyservin 0:9e9b7db60fd5 144 uint8_t base;
garyservin 0:9e9b7db60fd5 145 } u_pause;
garyservin 0:9e9b7db60fd5 146 u_pause.base = 0;
garyservin 0:9e9b7db60fd5 147 u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 148 this->pause = u_pause.real;
garyservin 0:9e9b7db60fd5 149 offset += sizeof(this->pause);
garyservin 0:9e9b7db60fd5 150 union {
garyservin 0:9e9b7db60fd5 151 double real;
garyservin 0:9e9b7db60fd5 152 uint64_t base;
garyservin 0:9e9b7db60fd5 153 } u_max_update_rate;
garyservin 0:9e9b7db60fd5 154 u_max_update_rate.base = 0;
garyservin 0:9e9b7db60fd5 155 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 156 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 157 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 158 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 159 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 160 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 161 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 162 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 163 this->max_update_rate = u_max_update_rate.real;
garyservin 0:9e9b7db60fd5 164 offset += sizeof(this->max_update_rate);
garyservin 0:9e9b7db60fd5 165 offset += this->gravity.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 166 offset += this->ode_config.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 167 union {
garyservin 0:9e9b7db60fd5 168 bool real;
garyservin 0:9e9b7db60fd5 169 uint8_t base;
garyservin 0:9e9b7db60fd5 170 } u_success;
garyservin 0:9e9b7db60fd5 171 u_success.base = 0;
garyservin 0:9e9b7db60fd5 172 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 173 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 174 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 175 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 176 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 177 offset += 4;
garyservin 0:9e9b7db60fd5 178 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 179 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 180 }
garyservin 0:9e9b7db60fd5 181 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 182 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 183 offset += length_status_message;
garyservin 0:9e9b7db60fd5 184 return offset;
garyservin 0:9e9b7db60fd5 185 }
garyservin 0:9e9b7db60fd5 186
garyservin 0:9e9b7db60fd5 187 const char * getType(){ return GETPHYSICSPROPERTIES; };
garyservin 0:9e9b7db60fd5 188 const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
garyservin 0:9e9b7db60fd5 189
garyservin 0:9e9b7db60fd5 190 };
garyservin 0:9e9b7db60fd5 191
garyservin 0:9e9b7db60fd5 192 class GetPhysicsProperties {
garyservin 0:9e9b7db60fd5 193 public:
garyservin 0:9e9b7db60fd5 194 typedef GetPhysicsPropertiesRequest Request;
garyservin 0:9e9b7db60fd5 195 typedef GetPhysicsPropertiesResponse Response;
garyservin 0:9e9b7db60fd5 196 };
garyservin 0:9e9b7db60fd5 197
garyservin 0:9e9b7db60fd5 198 }
garyservin 0:9e9b7db60fd5 199 #endif