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SetJointTrajectory.h
00001 #ifndef _ROS_SERVICE_SetJointTrajectory_h 00002 #define _ROS_SERVICE_SetJointTrajectory_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 #include "trajectory_msgs/JointTrajectory.h" 00008 #include "geometry_msgs/Pose.h" 00009 00010 namespace gazebo_msgs 00011 { 00012 00013 static const char SETJOINTTRAJECTORY[] = "gazebo_msgs/SetJointTrajectory"; 00014 00015 class SetJointTrajectoryRequest : public ros::Msg 00016 { 00017 public: 00018 typedef const char* _model_name_type; 00019 _model_name_type model_name; 00020 typedef trajectory_msgs::JointTrajectory _joint_trajectory_type; 00021 _joint_trajectory_type joint_trajectory; 00022 typedef geometry_msgs::Pose _model_pose_type; 00023 _model_pose_type model_pose; 00024 typedef bool _set_model_pose_type; 00025 _set_model_pose_type set_model_pose; 00026 typedef bool _disable_physics_updates_type; 00027 _disable_physics_updates_type disable_physics_updates; 00028 00029 SetJointTrajectoryRequest(): 00030 model_name(""), 00031 joint_trajectory(), 00032 model_pose(), 00033 set_model_pose(0), 00034 disable_physics_updates(0) 00035 { 00036 } 00037 00038 virtual int serialize(unsigned char *outbuffer) const 00039 { 00040 int offset = 0; 00041 uint32_t length_model_name = strlen(this->model_name); 00042 varToArr(outbuffer + offset, length_model_name); 00043 offset += 4; 00044 memcpy(outbuffer + offset, this->model_name, length_model_name); 00045 offset += length_model_name; 00046 offset += this->joint_trajectory.serialize(outbuffer + offset); 00047 offset += this->model_pose.serialize(outbuffer + offset); 00048 union { 00049 bool real; 00050 uint8_t base; 00051 } u_set_model_pose; 00052 u_set_model_pose.real = this->set_model_pose; 00053 *(outbuffer + offset + 0) = (u_set_model_pose.base >> (8 * 0)) & 0xFF; 00054 offset += sizeof(this->set_model_pose); 00055 union { 00056 bool real; 00057 uint8_t base; 00058 } u_disable_physics_updates; 00059 u_disable_physics_updates.real = this->disable_physics_updates; 00060 *(outbuffer + offset + 0) = (u_disable_physics_updates.base >> (8 * 0)) & 0xFF; 00061 offset += sizeof(this->disable_physics_updates); 00062 return offset; 00063 } 00064 00065 virtual int deserialize(unsigned char *inbuffer) 00066 { 00067 int offset = 0; 00068 uint32_t length_model_name; 00069 arrToVar(length_model_name, (inbuffer + offset)); 00070 offset += 4; 00071 for(unsigned int k= offset; k< offset+length_model_name; ++k){ 00072 inbuffer[k-1]=inbuffer[k]; 00073 } 00074 inbuffer[offset+length_model_name-1]=0; 00075 this->model_name = (char *)(inbuffer + offset-1); 00076 offset += length_model_name; 00077 offset += this->joint_trajectory.deserialize(inbuffer + offset); 00078 offset += this->model_pose.deserialize(inbuffer + offset); 00079 union { 00080 bool real; 00081 uint8_t base; 00082 } u_set_model_pose; 00083 u_set_model_pose.base = 0; 00084 u_set_model_pose.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00085 this->set_model_pose = u_set_model_pose.real; 00086 offset += sizeof(this->set_model_pose); 00087 union { 00088 bool real; 00089 uint8_t base; 00090 } u_disable_physics_updates; 00091 u_disable_physics_updates.base = 0; 00092 u_disable_physics_updates.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00093 this->disable_physics_updates = u_disable_physics_updates.real; 00094 offset += sizeof(this->disable_physics_updates); 00095 return offset; 00096 } 00097 00098 const char * getType(){ return SETJOINTTRAJECTORY; }; 00099 const char * getMD5(){ return "649dd2eba5ffd358069238825f9f85ab"; }; 00100 00101 }; 00102 00103 class SetJointTrajectoryResponse : public ros::Msg 00104 { 00105 public: 00106 typedef bool _success_type; 00107 _success_type success; 00108 typedef const char* _status_message_type; 00109 _status_message_type status_message; 00110 00111 SetJointTrajectoryResponse(): 00112 success(0), 00113 status_message("") 00114 { 00115 } 00116 00117 virtual int serialize(unsigned char *outbuffer) const 00118 { 00119 int offset = 0; 00120 union { 00121 bool real; 00122 uint8_t base; 00123 } u_success; 00124 u_success.real = this->success; 00125 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00126 offset += sizeof(this->success); 00127 uint32_t length_status_message = strlen(this->status_message); 00128 varToArr(outbuffer + offset, length_status_message); 00129 offset += 4; 00130 memcpy(outbuffer + offset, this->status_message, length_status_message); 00131 offset += length_status_message; 00132 return offset; 00133 } 00134 00135 virtual int deserialize(unsigned char *inbuffer) 00136 { 00137 int offset = 0; 00138 union { 00139 bool real; 00140 uint8_t base; 00141 } u_success; 00142 u_success.base = 0; 00143 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00144 this->success = u_success.real; 00145 offset += sizeof(this->success); 00146 uint32_t length_status_message; 00147 arrToVar(length_status_message, (inbuffer + offset)); 00148 offset += 4; 00149 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00150 inbuffer[k-1]=inbuffer[k]; 00151 } 00152 inbuffer[offset+length_status_message-1]=0; 00153 this->status_message = (char *)(inbuffer + offset-1); 00154 offset += length_status_message; 00155 return offset; 00156 } 00157 00158 const char * getType(){ return SETJOINTTRAJECTORY; }; 00159 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; 00160 00161 }; 00162 00163 class SetJointTrajectory { 00164 public: 00165 typedef SetJointTrajectoryRequest Request; 00166 typedef SetJointTrajectoryResponse Response; 00167 }; 00168 00169 } 00170 #endif
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