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GetPhysicsProperties.h
00001 #ifndef _ROS_SERVICE_GetPhysicsProperties_h 00002 #define _ROS_SERVICE_GetPhysicsProperties_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 #include "geometry_msgs/Vector3.h" 00008 #include "gazebo_msgs/ODEPhysics.h" 00009 00010 namespace gazebo_msgs 00011 { 00012 00013 static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties"; 00014 00015 class GetPhysicsPropertiesRequest : public ros::Msg 00016 { 00017 public: 00018 00019 GetPhysicsPropertiesRequest() 00020 { 00021 } 00022 00023 virtual int serialize(unsigned char *outbuffer) const 00024 { 00025 int offset = 0; 00026 return offset; 00027 } 00028 00029 virtual int deserialize(unsigned char *inbuffer) 00030 { 00031 int offset = 0; 00032 return offset; 00033 } 00034 00035 const char * getType(){ return GETPHYSICSPROPERTIES; }; 00036 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; 00037 00038 }; 00039 00040 class GetPhysicsPropertiesResponse : public ros::Msg 00041 { 00042 public: 00043 typedef double _time_step_type; 00044 _time_step_type time_step; 00045 typedef bool _pause_type; 00046 _pause_type pause; 00047 typedef double _max_update_rate_type; 00048 _max_update_rate_type max_update_rate; 00049 typedef geometry_msgs::Vector3 _gravity_type; 00050 _gravity_type gravity; 00051 typedef gazebo_msgs::ODEPhysics _ode_config_type; 00052 _ode_config_type ode_config; 00053 typedef bool _success_type; 00054 _success_type success; 00055 typedef const char* _status_message_type; 00056 _status_message_type status_message; 00057 00058 GetPhysicsPropertiesResponse(): 00059 time_step(0), 00060 pause(0), 00061 max_update_rate(0), 00062 gravity(), 00063 ode_config(), 00064 success(0), 00065 status_message("") 00066 { 00067 } 00068 00069 virtual int serialize(unsigned char *outbuffer) const 00070 { 00071 int offset = 0; 00072 union { 00073 double real; 00074 uint64_t base; 00075 } u_time_step; 00076 u_time_step.real = this->time_step; 00077 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF; 00078 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF; 00079 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF; 00080 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF; 00081 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF; 00082 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF; 00083 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF; 00084 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF; 00085 offset += sizeof(this->time_step); 00086 union { 00087 bool real; 00088 uint8_t base; 00089 } u_pause; 00090 u_pause.real = this->pause; 00091 *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF; 00092 offset += sizeof(this->pause); 00093 union { 00094 double real; 00095 uint64_t base; 00096 } u_max_update_rate; 00097 u_max_update_rate.real = this->max_update_rate; 00098 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF; 00099 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF; 00100 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF; 00101 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF; 00102 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF; 00103 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF; 00104 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF; 00105 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF; 00106 offset += sizeof(this->max_update_rate); 00107 offset += this->gravity.serialize(outbuffer + offset); 00108 offset += this->ode_config.serialize(outbuffer + offset); 00109 union { 00110 bool real; 00111 uint8_t base; 00112 } u_success; 00113 u_success.real = this->success; 00114 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00115 offset += sizeof(this->success); 00116 uint32_t length_status_message = strlen(this->status_message); 00117 varToArr(outbuffer + offset, length_status_message); 00118 offset += 4; 00119 memcpy(outbuffer + offset, this->status_message, length_status_message); 00120 offset += length_status_message; 00121 return offset; 00122 } 00123 00124 virtual int deserialize(unsigned char *inbuffer) 00125 { 00126 int offset = 0; 00127 union { 00128 double real; 00129 uint64_t base; 00130 } u_time_step; 00131 u_time_step.base = 0; 00132 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00133 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00134 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00135 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00136 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00137 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00138 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00139 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00140 this->time_step = u_time_step.real; 00141 offset += sizeof(this->time_step); 00142 union { 00143 bool real; 00144 uint8_t base; 00145 } u_pause; 00146 u_pause.base = 0; 00147 u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00148 this->pause = u_pause.real; 00149 offset += sizeof(this->pause); 00150 union { 00151 double real; 00152 uint64_t base; 00153 } u_max_update_rate; 00154 u_max_update_rate.base = 0; 00155 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00156 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00157 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00158 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00159 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00160 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00161 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00162 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00163 this->max_update_rate = u_max_update_rate.real; 00164 offset += sizeof(this->max_update_rate); 00165 offset += this->gravity.deserialize(inbuffer + offset); 00166 offset += this->ode_config.deserialize(inbuffer + offset); 00167 union { 00168 bool real; 00169 uint8_t base; 00170 } u_success; 00171 u_success.base = 0; 00172 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00173 this->success = u_success.real; 00174 offset += sizeof(this->success); 00175 uint32_t length_status_message; 00176 arrToVar(length_status_message, (inbuffer + offset)); 00177 offset += 4; 00178 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00179 inbuffer[k-1]=inbuffer[k]; 00180 } 00181 inbuffer[offset+length_status_message-1]=0; 00182 this->status_message = (char *)(inbuffer + offset-1); 00183 offset += length_status_message; 00184 return offset; 00185 } 00186 00187 const char * getType(){ return GETPHYSICSPROPERTIES; }; 00188 const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; }; 00189 00190 }; 00191 00192 class GetPhysicsProperties { 00193 public: 00194 typedef GetPhysicsPropertiesRequest Request; 00195 typedef GetPhysicsPropertiesResponse Response; 00196 }; 00197 00198 } 00199 #endif
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