Working towards recieving twists
Fork of ros_lib_kinetic by
Diff: gazebo_msgs/ApplyJointEffort.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/gazebo_msgs/ApplyJointEffort.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,202 @@ +#ifndef _ROS_SERVICE_ApplyJointEffort_h +#define _ROS_SERVICE_ApplyJointEffort_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "ros/duration.h" +#include "ros/time.h" + +namespace gazebo_msgs +{ + +static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort"; + + class ApplyJointEffortRequest : public ros::Msg + { + public: + typedef const char* _joint_name_type; + _joint_name_type joint_name; + typedef double _effort_type; + _effort_type effort; + typedef ros::Time _start_time_type; + _start_time_type start_time; + typedef ros::Duration _duration_type; + _duration_type duration; + + ApplyJointEffortRequest(): + joint_name(""), + effort(0), + start_time(), + duration() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_joint_name = strlen(this->joint_name); + varToArr(outbuffer + offset, length_joint_name); + offset += 4; + memcpy(outbuffer + offset, this->joint_name, length_joint_name); + offset += length_joint_name; + union { + double real; + uint64_t base; + } u_effort; + u_effort.real = this->effort; + *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->effort); + *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->start_time.sec); + *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->start_time.nsec); + *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->duration.sec); + *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->duration.nsec); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_joint_name; + arrToVar(length_joint_name, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_joint_name; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_joint_name-1]=0; + this->joint_name = (char *)(inbuffer + offset-1); + offset += length_joint_name; + union { + double real; + uint64_t base; + } u_effort; + u_effort.base = 0; + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->effort = u_effort.real; + offset += sizeof(this->effort); + this->start_time.sec = ((uint32_t) (*(inbuffer + offset))); + this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->start_time.sec); + this->start_time.nsec = ((uint32_t) (*(inbuffer + offset))); + this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->start_time.nsec); + this->duration.sec = ((uint32_t) (*(inbuffer + offset))); + this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->duration.sec); + this->duration.nsec = ((uint32_t) (*(inbuffer + offset))); + this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->duration.nsec); + return offset; + } + + const char * getType(){ return APPLYJOINTEFFORT; }; + const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; }; + + }; + + class ApplyJointEffortResponse : public ros::Msg + { + public: + typedef bool _success_type; + _success_type success; + typedef const char* _status_message_type; + _status_message_type status_message; + + ApplyJointEffortResponse(): + success(0), + status_message("") + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + bool real; + uint8_t base; + } u_success; + u_success.real = this->success; + *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->success); + uint32_t length_status_message = strlen(this->status_message); + varToArr(outbuffer + offset, length_status_message); + offset += 4; + memcpy(outbuffer + offset, this->status_message, length_status_message); + offset += length_status_message; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + bool real; + uint8_t base; + } u_success; + u_success.base = 0; + u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->success = u_success.real; + offset += sizeof(this->success); + uint32_t length_status_message; + arrToVar(length_status_message, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_status_message; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_status_message-1]=0; + this->status_message = (char *)(inbuffer + offset-1); + offset += length_status_message; + return offset; + } + + const char * getType(){ return APPLYJOINTEFFORT; }; + const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; + + }; + + class ApplyJointEffort { + public: + typedef ApplyJointEffortRequest Request; + typedef ApplyJointEffortResponse Response; + }; + +} +#endif