Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/ODEPhysics.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_ODEPhysics_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_gazebo_msgs_ODEPhysics_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
garyservin 0:9e9b7db60fd5 9 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class ODEPhysics : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef bool _auto_disable_bodies_type;
garyservin 0:9e9b7db60fd5 16 _auto_disable_bodies_type auto_disable_bodies;
garyservin 0:9e9b7db60fd5 17 typedef uint32_t _sor_pgs_precon_iters_type;
garyservin 0:9e9b7db60fd5 18 _sor_pgs_precon_iters_type sor_pgs_precon_iters;
garyservin 0:9e9b7db60fd5 19 typedef uint32_t _sor_pgs_iters_type;
garyservin 0:9e9b7db60fd5 20 _sor_pgs_iters_type sor_pgs_iters;
garyservin 0:9e9b7db60fd5 21 typedef double _sor_pgs_w_type;
garyservin 0:9e9b7db60fd5 22 _sor_pgs_w_type sor_pgs_w;
garyservin 0:9e9b7db60fd5 23 typedef double _sor_pgs_rms_error_tol_type;
garyservin 0:9e9b7db60fd5 24 _sor_pgs_rms_error_tol_type sor_pgs_rms_error_tol;
garyservin 0:9e9b7db60fd5 25 typedef double _contact_surface_layer_type;
garyservin 0:9e9b7db60fd5 26 _contact_surface_layer_type contact_surface_layer;
garyservin 0:9e9b7db60fd5 27 typedef double _contact_max_correcting_vel_type;
garyservin 0:9e9b7db60fd5 28 _contact_max_correcting_vel_type contact_max_correcting_vel;
garyservin 0:9e9b7db60fd5 29 typedef double _cfm_type;
garyservin 0:9e9b7db60fd5 30 _cfm_type cfm;
garyservin 0:9e9b7db60fd5 31 typedef double _erp_type;
garyservin 0:9e9b7db60fd5 32 _erp_type erp;
garyservin 0:9e9b7db60fd5 33 typedef uint32_t _max_contacts_type;
garyservin 0:9e9b7db60fd5 34 _max_contacts_type max_contacts;
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 ODEPhysics():
garyservin 0:9e9b7db60fd5 37 auto_disable_bodies(0),
garyservin 0:9e9b7db60fd5 38 sor_pgs_precon_iters(0),
garyservin 0:9e9b7db60fd5 39 sor_pgs_iters(0),
garyservin 0:9e9b7db60fd5 40 sor_pgs_w(0),
garyservin 0:9e9b7db60fd5 41 sor_pgs_rms_error_tol(0),
garyservin 0:9e9b7db60fd5 42 contact_surface_layer(0),
garyservin 0:9e9b7db60fd5 43 contact_max_correcting_vel(0),
garyservin 0:9e9b7db60fd5 44 cfm(0),
garyservin 0:9e9b7db60fd5 45 erp(0),
garyservin 0:9e9b7db60fd5 46 max_contacts(0)
garyservin 0:9e9b7db60fd5 47 {
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49
garyservin 0:9e9b7db60fd5 50 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 51 {
garyservin 0:9e9b7db60fd5 52 int offset = 0;
garyservin 0:9e9b7db60fd5 53 union {
garyservin 0:9e9b7db60fd5 54 bool real;
garyservin 0:9e9b7db60fd5 55 uint8_t base;
garyservin 0:9e9b7db60fd5 56 } u_auto_disable_bodies;
garyservin 0:9e9b7db60fd5 57 u_auto_disable_bodies.real = this->auto_disable_bodies;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->auto_disable_bodies);
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->sor_pgs_precon_iters);
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->sor_pgs_iters);
garyservin 0:9e9b7db60fd5 70 union {
garyservin 0:9e9b7db60fd5 71 double real;
garyservin 0:9e9b7db60fd5 72 uint64_t base;
garyservin 0:9e9b7db60fd5 73 } u_sor_pgs_w;
garyservin 0:9e9b7db60fd5 74 u_sor_pgs_w.real = this->sor_pgs_w;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 offset += sizeof(this->sor_pgs_w);
garyservin 0:9e9b7db60fd5 84 union {
garyservin 0:9e9b7db60fd5 85 double real;
garyservin 0:9e9b7db60fd5 86 uint64_t base;
garyservin 0:9e9b7db60fd5 87 } u_sor_pgs_rms_error_tol;
garyservin 0:9e9b7db60fd5 88 u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol;
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 offset += sizeof(this->sor_pgs_rms_error_tol);
garyservin 0:9e9b7db60fd5 98 union {
garyservin 0:9e9b7db60fd5 99 double real;
garyservin 0:9e9b7db60fd5 100 uint64_t base;
garyservin 0:9e9b7db60fd5 101 } u_contact_surface_layer;
garyservin 0:9e9b7db60fd5 102 u_contact_surface_layer.real = this->contact_surface_layer;
garyservin 0:9e9b7db60fd5 103 *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->contact_surface_layer);
garyservin 0:9e9b7db60fd5 112 union {
garyservin 0:9e9b7db60fd5 113 double real;
garyservin 0:9e9b7db60fd5 114 uint64_t base;
garyservin 0:9e9b7db60fd5 115 } u_contact_max_correcting_vel;
garyservin 0:9e9b7db60fd5 116 u_contact_max_correcting_vel.real = this->contact_max_correcting_vel;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 119 *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 120 *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 121 *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 122 *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 123 *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 124 *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 125 offset += sizeof(this->contact_max_correcting_vel);
garyservin 0:9e9b7db60fd5 126 union {
garyservin 0:9e9b7db60fd5 127 double real;
garyservin 0:9e9b7db60fd5 128 uint64_t base;
garyservin 0:9e9b7db60fd5 129 } u_cfm;
garyservin 0:9e9b7db60fd5 130 u_cfm.real = this->cfm;
garyservin 0:9e9b7db60fd5 131 *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 132 *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 133 *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 134 *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 135 *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 offset += sizeof(this->cfm);
garyservin 0:9e9b7db60fd5 140 union {
garyservin 0:9e9b7db60fd5 141 double real;
garyservin 0:9e9b7db60fd5 142 uint64_t base;
garyservin 0:9e9b7db60fd5 143 } u_erp;
garyservin 0:9e9b7db60fd5 144 u_erp.real = this->erp;
garyservin 0:9e9b7db60fd5 145 *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 146 *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 147 *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 148 *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 149 *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 150 *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 151 *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 152 *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 153 offset += sizeof(this->erp);
garyservin 0:9e9b7db60fd5 154 *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 155 *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 156 *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 157 *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 158 offset += sizeof(this->max_contacts);
garyservin 0:9e9b7db60fd5 159 return offset;
garyservin 0:9e9b7db60fd5 160 }
garyservin 0:9e9b7db60fd5 161
garyservin 0:9e9b7db60fd5 162 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 163 {
garyservin 0:9e9b7db60fd5 164 int offset = 0;
garyservin 0:9e9b7db60fd5 165 union {
garyservin 0:9e9b7db60fd5 166 bool real;
garyservin 0:9e9b7db60fd5 167 uint8_t base;
garyservin 0:9e9b7db60fd5 168 } u_auto_disable_bodies;
garyservin 0:9e9b7db60fd5 169 u_auto_disable_bodies.base = 0;
garyservin 0:9e9b7db60fd5 170 u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 171 this->auto_disable_bodies = u_auto_disable_bodies.real;
garyservin 0:9e9b7db60fd5 172 offset += sizeof(this->auto_disable_bodies);
garyservin 0:9e9b7db60fd5 173 this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 174 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 175 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 176 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 177 offset += sizeof(this->sor_pgs_precon_iters);
garyservin 0:9e9b7db60fd5 178 this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 179 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 180 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 181 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 182 offset += sizeof(this->sor_pgs_iters);
garyservin 0:9e9b7db60fd5 183 union {
garyservin 0:9e9b7db60fd5 184 double real;
garyservin 0:9e9b7db60fd5 185 uint64_t base;
garyservin 0:9e9b7db60fd5 186 } u_sor_pgs_w;
garyservin 0:9e9b7db60fd5 187 u_sor_pgs_w.base = 0;
garyservin 0:9e9b7db60fd5 188 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 189 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 190 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 191 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 192 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 193 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 194 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 195 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 196 this->sor_pgs_w = u_sor_pgs_w.real;
garyservin 0:9e9b7db60fd5 197 offset += sizeof(this->sor_pgs_w);
garyservin 0:9e9b7db60fd5 198 union {
garyservin 0:9e9b7db60fd5 199 double real;
garyservin 0:9e9b7db60fd5 200 uint64_t base;
garyservin 0:9e9b7db60fd5 201 } u_sor_pgs_rms_error_tol;
garyservin 0:9e9b7db60fd5 202 u_sor_pgs_rms_error_tol.base = 0;
garyservin 0:9e9b7db60fd5 203 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 204 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 205 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 206 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 207 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 208 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 209 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 210 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 211 this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real;
garyservin 0:9e9b7db60fd5 212 offset += sizeof(this->sor_pgs_rms_error_tol);
garyservin 0:9e9b7db60fd5 213 union {
garyservin 0:9e9b7db60fd5 214 double real;
garyservin 0:9e9b7db60fd5 215 uint64_t base;
garyservin 0:9e9b7db60fd5 216 } u_contact_surface_layer;
garyservin 0:9e9b7db60fd5 217 u_contact_surface_layer.base = 0;
garyservin 0:9e9b7db60fd5 218 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 219 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 220 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 221 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 222 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 223 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 224 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 225 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 226 this->contact_surface_layer = u_contact_surface_layer.real;
garyservin 0:9e9b7db60fd5 227 offset += sizeof(this->contact_surface_layer);
garyservin 0:9e9b7db60fd5 228 union {
garyservin 0:9e9b7db60fd5 229 double real;
garyservin 0:9e9b7db60fd5 230 uint64_t base;
garyservin 0:9e9b7db60fd5 231 } u_contact_max_correcting_vel;
garyservin 0:9e9b7db60fd5 232 u_contact_max_correcting_vel.base = 0;
garyservin 0:9e9b7db60fd5 233 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 234 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 235 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 236 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 237 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 238 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 239 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 240 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 241 this->contact_max_correcting_vel = u_contact_max_correcting_vel.real;
garyservin 0:9e9b7db60fd5 242 offset += sizeof(this->contact_max_correcting_vel);
garyservin 0:9e9b7db60fd5 243 union {
garyservin 0:9e9b7db60fd5 244 double real;
garyservin 0:9e9b7db60fd5 245 uint64_t base;
garyservin 0:9e9b7db60fd5 246 } u_cfm;
garyservin 0:9e9b7db60fd5 247 u_cfm.base = 0;
garyservin 0:9e9b7db60fd5 248 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 249 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 250 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 251 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 252 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 253 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 254 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 255 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 256 this->cfm = u_cfm.real;
garyservin 0:9e9b7db60fd5 257 offset += sizeof(this->cfm);
garyservin 0:9e9b7db60fd5 258 union {
garyservin 0:9e9b7db60fd5 259 double real;
garyservin 0:9e9b7db60fd5 260 uint64_t base;
garyservin 0:9e9b7db60fd5 261 } u_erp;
garyservin 0:9e9b7db60fd5 262 u_erp.base = 0;
garyservin 0:9e9b7db60fd5 263 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 264 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 265 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 266 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 267 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 268 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 269 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 270 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 271 this->erp = u_erp.real;
garyservin 0:9e9b7db60fd5 272 offset += sizeof(this->erp);
garyservin 0:9e9b7db60fd5 273 this->max_contacts = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 274 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 275 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 276 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 277 offset += sizeof(this->max_contacts);
garyservin 0:9e9b7db60fd5 278 return offset;
garyservin 0:9e9b7db60fd5 279 }
garyservin 0:9e9b7db60fd5 280
garyservin 0:9e9b7db60fd5 281 const char * getType(){ return "gazebo_msgs/ODEPhysics"; };
garyservin 0:9e9b7db60fd5 282 const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; };
garyservin 0:9e9b7db60fd5 283
garyservin 0:9e9b7db60fd5 284 };
garyservin 0:9e9b7db60fd5 285
garyservin 0:9e9b7db60fd5 286 }
garyservin 0:9e9b7db60fd5 287 #endif