Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/LinkStates.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_LinkStates_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_gazebo_msgs_LinkStates_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/Pose.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Twist.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 LinkStates : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 uint32_t name_length;
garyservin 0:9e9b7db60fd5 18 typedef char* _name_type;
garyservin 0:9e9b7db60fd5 19 _name_type st_name;
garyservin 0:9e9b7db60fd5 20 _name_type * name;
garyservin 0:9e9b7db60fd5 21 uint32_t pose_length;
garyservin 0:9e9b7db60fd5 22 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 23 _pose_type st_pose;
garyservin 0:9e9b7db60fd5 24 _pose_type * pose;
garyservin 0:9e9b7db60fd5 25 uint32_t twist_length;
garyservin 0:9e9b7db60fd5 26 typedef geometry_msgs::Twist _twist_type;
garyservin 0:9e9b7db60fd5 27 _twist_type st_twist;
garyservin 0:9e9b7db60fd5 28 _twist_type * twist;
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 LinkStates():
garyservin 0:9e9b7db60fd5 31 name_length(0), name(NULL),
garyservin 0:9e9b7db60fd5 32 pose_length(0), pose(NULL),
garyservin 0:9e9b7db60fd5 33 twist_length(0), twist(NULL)
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 }
garyservin 0:9e9b7db60fd5 36
garyservin 0:9e9b7db60fd5 37 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 int offset = 0;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 45 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 46 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:9e9b7db60fd5 47 varToArr(outbuffer + offset, length_namei);
garyservin 0:9e9b7db60fd5 48 offset += 4;
garyservin 0:9e9b7db60fd5 49 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:9e9b7db60fd5 50 offset += length_namei;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->pose_length);
garyservin 0:9e9b7db60fd5 57 for( uint32_t i = 0; i < pose_length; i++){
garyservin 0:9e9b7db60fd5 58 offset += this->pose[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->twist_length);
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < twist_length; i++){
garyservin 0:9e9b7db60fd5 66 offset += this->twist[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 return offset;
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 72 {
garyservin 0:9e9b7db60fd5 73 int offset = 0;
garyservin 0:9e9b7db60fd5 74 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 75 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 76 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 77 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->name_length);
garyservin 0:9e9b7db60fd5 79 if(name_lengthT > name_length)
garyservin 0:9e9b7db60fd5 80 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 81 name_length = name_lengthT;
garyservin 0:9e9b7db60fd5 82 for( uint32_t i = 0; i < name_length; i++){
garyservin 0:9e9b7db60fd5 83 uint32_t length_st_name;
garyservin 0:9e9b7db60fd5 84 arrToVar(length_st_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 85 offset += 4;
garyservin 0:9e9b7db60fd5 86 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:9e9b7db60fd5 87 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 inbuffer[offset+length_st_name-1]=0;
garyservin 0:9e9b7db60fd5 90 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 91 offset += length_st_name;
garyservin 0:9e9b7db60fd5 92 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:9e9b7db60fd5 93 }
garyservin 0:9e9b7db60fd5 94 uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 95 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 96 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 97 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->pose_length);
garyservin 0:9e9b7db60fd5 99 if(pose_lengthT > pose_length)
garyservin 0:9e9b7db60fd5 100 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 101 pose_length = pose_lengthT;
garyservin 0:9e9b7db60fd5 102 for( uint32_t i = 0; i < pose_length; i++){
garyservin 0:9e9b7db60fd5 103 offset += this->st_pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 104 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
garyservin 0:9e9b7db60fd5 105 }
garyservin 0:9e9b7db60fd5 106 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 107 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 108 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 109 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 110 offset += sizeof(this->twist_length);
garyservin 0:9e9b7db60fd5 111 if(twist_lengthT > twist_length)
garyservin 0:9e9b7db60fd5 112 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 113 twist_length = twist_lengthT;
garyservin 0:9e9b7db60fd5 114 for( uint32_t i = 0; i < twist_length; i++){
garyservin 0:9e9b7db60fd5 115 offset += this->st_twist.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 116 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 return offset;
garyservin 0:9e9b7db60fd5 119 }
garyservin 0:9e9b7db60fd5 120
garyservin 0:9e9b7db60fd5 121 const char * getType(){ return "gazebo_msgs/LinkStates"; };
garyservin 0:9e9b7db60fd5 122 const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
garyservin 0:9e9b7db60fd5 123
garyservin 0:9e9b7db60fd5 124 };
garyservin 0:9e9b7db60fd5 125
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127 #endif