Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/ModelState.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_ModelState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_gazebo_msgs_ModelState_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 ModelState : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _model_name_type;
garyservin 0:9e9b7db60fd5 18 _model_name_type model_name;
garyservin 0:9e9b7db60fd5 19 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 20 _pose_type pose;
garyservin 0:9e9b7db60fd5 21 typedef geometry_msgs::Twist _twist_type;
garyservin 0:9e9b7db60fd5 22 _twist_type twist;
garyservin 0:9e9b7db60fd5 23 typedef const char* _reference_frame_type;
garyservin 0:9e9b7db60fd5 24 _reference_frame_type reference_frame;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 ModelState():
garyservin 0:9e9b7db60fd5 27 model_name(""),
garyservin 0:9e9b7db60fd5 28 pose(),
garyservin 0:9e9b7db60fd5 29 twist(),
garyservin 0:9e9b7db60fd5 30 reference_frame("")
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 }
garyservin 0:9e9b7db60fd5 33
garyservin 0:9e9b7db60fd5 34 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 35 {
garyservin 0:9e9b7db60fd5 36 int offset = 0;
garyservin 0:9e9b7db60fd5 37 uint32_t length_model_name = strlen(this->model_name);
garyservin 0:9e9b7db60fd5 38 varToArr(outbuffer + offset, length_model_name);
garyservin 0:9e9b7db60fd5 39 offset += 4;
garyservin 0:9e9b7db60fd5 40 memcpy(outbuffer + offset, this->model_name, length_model_name);
garyservin 0:9e9b7db60fd5 41 offset += length_model_name;
garyservin 0:9e9b7db60fd5 42 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 offset += this->twist.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 44 uint32_t length_reference_frame = strlen(this->reference_frame);
garyservin 0:9e9b7db60fd5 45 varToArr(outbuffer + offset, length_reference_frame);
garyservin 0:9e9b7db60fd5 46 offset += 4;
garyservin 0:9e9b7db60fd5 47 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
garyservin 0:9e9b7db60fd5 48 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 49 return offset;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 uint32_t length_model_name;
garyservin 0:9e9b7db60fd5 56 arrToVar(length_model_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 57 offset += 4;
garyservin 0:9e9b7db60fd5 58 for(unsigned int k= offset; k< offset+length_model_name; ++k){
garyservin 0:9e9b7db60fd5 59 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61 inbuffer[offset+length_model_name-1]=0;
garyservin 0:9e9b7db60fd5 62 this->model_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 63 offset += length_model_name;
garyservin 0:9e9b7db60fd5 64 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 65 offset += this->twist.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 66 uint32_t length_reference_frame;
garyservin 0:9e9b7db60fd5 67 arrToVar(length_reference_frame, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 68 offset += 4;
garyservin 0:9e9b7db60fd5 69 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
garyservin 0:9e9b7db60fd5 70 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72 inbuffer[offset+length_reference_frame-1]=0;
garyservin 0:9e9b7db60fd5 73 this->reference_frame = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 74 offset += length_reference_frame;
garyservin 0:9e9b7db60fd5 75 return offset;
garyservin 0:9e9b7db60fd5 76 }
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 const char * getType(){ return "gazebo_msgs/ModelState"; };
garyservin 0:9e9b7db60fd5 79 const char * getMD5(){ return "9330fd35f2fcd82d457e54bd54e10593"; };
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 };
garyservin 0:9e9b7db60fd5 82
garyservin 0:9e9b7db60fd5 83 }
garyservin 0:9e9b7db60fd5 84 #endif