Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

gazebo_msgs/SetJointProperties.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_SetJointProperties_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_SetJointProperties_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 "gazebo_msgs/ODEJointProperties.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 static const char SETJOINTPROPERTIES[] = "gazebo_msgs/SetJointProperties";
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class SetJointPropertiesRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef const char* _joint_name_type;
garyservin 0:9e9b7db60fd5 18 _joint_name_type joint_name;
garyservin 0:9e9b7db60fd5 19 typedef gazebo_msgs::ODEJointProperties _ode_joint_config_type;
garyservin 0:9e9b7db60fd5 20 _ode_joint_config_type ode_joint_config;
garyservin 0:9e9b7db60fd5 21
garyservin 0:9e9b7db60fd5 22 SetJointPropertiesRequest():
garyservin 0:9e9b7db60fd5 23 joint_name(""),
garyservin 0:9e9b7db60fd5 24 ode_joint_config()
garyservin 0:9e9b7db60fd5 25 {
garyservin 0:9e9b7db60fd5 26 }
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 int offset = 0;
garyservin 0:9e9b7db60fd5 31 uint32_t length_joint_name = strlen(this->joint_name);
garyservin 0:9e9b7db60fd5 32 varToArr(outbuffer + offset, length_joint_name);
garyservin 0:9e9b7db60fd5 33 offset += 4;
garyservin 0:9e9b7db60fd5 34 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
garyservin 0:9e9b7db60fd5 35 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 36 offset += this->ode_joint_config.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 37 return offset;
garyservin 0:9e9b7db60fd5 38 }
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int offset = 0;
garyservin 0:9e9b7db60fd5 43 uint32_t length_joint_name;
garyservin 0:9e9b7db60fd5 44 arrToVar(length_joint_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 45 offset += 4;
garyservin 0:9e9b7db60fd5 46 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
garyservin 0:9e9b7db60fd5 47 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 48 }
garyservin 0:9e9b7db60fd5 49 inbuffer[offset+length_joint_name-1]=0;
garyservin 0:9e9b7db60fd5 50 this->joint_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 51 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 52 offset += this->ode_joint_config.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 53 return offset;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55
garyservin 0:9e9b7db60fd5 56 const char * getType(){ return SETJOINTPROPERTIES; };
garyservin 0:9e9b7db60fd5 57 const char * getMD5(){ return "331fd8f35fd27e3c1421175590258e26"; };
garyservin 0:9e9b7db60fd5 58
garyservin 0:9e9b7db60fd5 59 };
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 class SetJointPropertiesResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 public:
garyservin 0:9e9b7db60fd5 64 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 65 _success_type success;
garyservin 0:9e9b7db60fd5 66 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 67 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 SetJointPropertiesResponse():
garyservin 0:9e9b7db60fd5 70 success(0),
garyservin 0:9e9b7db60fd5 71 status_message("")
garyservin 0:9e9b7db60fd5 72 {
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 76 {
garyservin 0:9e9b7db60fd5 77 int offset = 0;
garyservin 0:9e9b7db60fd5 78 union {
garyservin 0:9e9b7db60fd5 79 bool real;
garyservin 0:9e9b7db60fd5 80 uint8_t base;
garyservin 0:9e9b7db60fd5 81 } u_success;
garyservin 0:9e9b7db60fd5 82 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 85 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 86 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 87 offset += 4;
garyservin 0:9e9b7db60fd5 88 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 89 offset += length_status_message;
garyservin 0:9e9b7db60fd5 90 return offset;
garyservin 0:9e9b7db60fd5 91 }
garyservin 0:9e9b7db60fd5 92
garyservin 0:9e9b7db60fd5 93 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 94 {
garyservin 0:9e9b7db60fd5 95 int offset = 0;
garyservin 0:9e9b7db60fd5 96 union {
garyservin 0:9e9b7db60fd5 97 bool real;
garyservin 0:9e9b7db60fd5 98 uint8_t base;
garyservin 0:9e9b7db60fd5 99 } u_success;
garyservin 0:9e9b7db60fd5 100 u_success.base = 0;
garyservin 0:9e9b7db60fd5 101 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 102 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 103 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 104 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 105 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 106 offset += 4;
garyservin 0:9e9b7db60fd5 107 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 108 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 109 }
garyservin 0:9e9b7db60fd5 110 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 111 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 112 offset += length_status_message;
garyservin 0:9e9b7db60fd5 113 return offset;
garyservin 0:9e9b7db60fd5 114 }
garyservin 0:9e9b7db60fd5 115
garyservin 0:9e9b7db60fd5 116 const char * getType(){ return SETJOINTPROPERTIES; };
garyservin 0:9e9b7db60fd5 117 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 118
garyservin 0:9e9b7db60fd5 119 };
garyservin 0:9e9b7db60fd5 120
garyservin 0:9e9b7db60fd5 121 class SetJointProperties {
garyservin 0:9e9b7db60fd5 122 public:
garyservin 0:9e9b7db60fd5 123 typedef SetJointPropertiesRequest Request;
garyservin 0:9e9b7db60fd5 124 typedef SetJointPropertiesResponse Response;
garyservin 0:9e9b7db60fd5 125 };
garyservin 0:9e9b7db60fd5 126
garyservin 0:9e9b7db60fd5 127 }
garyservin 0:9e9b7db60fd5 128 #endif