Jesus Fausto
Working towards recieving twists
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ros_lib_kinetic
by 
Gary Servin
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SetLinkProperties.h
00001 #ifndef _ROS_SERVICE_SetLinkProperties_h 00002 #define _ROS_SERVICE_SetLinkProperties_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 #include "geometry_msgs/Pose.h" 00008 00009 namespace gazebo_msgs 00010 { 00011 00012 static const char SETLINKPROPERTIES[] = "gazebo_msgs/SetLinkProperties"; 00013 00014 class SetLinkPropertiesRequest : public ros::Msg 00015 { 00016 public: 00017 typedef const char* _link_name_type; 00018 _link_name_type link_name; 00019 typedef geometry_msgs::Pose _com_type; 00020 _com_type com; 00021 typedef bool _gravity_mode_type; 00022 _gravity_mode_type gravity_mode; 00023 typedef double _mass_type; 00024 _mass_type mass; 00025 typedef double _ixx_type; 00026 _ixx_type ixx; 00027 typedef double _ixy_type; 00028 _ixy_type ixy; 00029 typedef double _ixz_type; 00030 _ixz_type ixz; 00031 typedef double _iyy_type; 00032 _iyy_type iyy; 00033 typedef double _iyz_type; 00034 _iyz_type iyz; 00035 typedef double _izz_type; 00036 _izz_type izz; 00037 00038 SetLinkPropertiesRequest(): 00039 link_name(""), 00040 com(), 00041 gravity_mode(0), 00042 mass(0), 00043 ixx(0), 00044 ixy(0), 00045 ixz(0), 00046 iyy(0), 00047 iyz(0), 00048 izz(0) 00049 { 00050 } 00051 00052 virtual int serialize(unsigned char *outbuffer) const 00053 { 00054 int offset = 0; 00055 uint32_t length_link_name = strlen(this->link_name); 00056 varToArr(outbuffer + offset, length_link_name); 00057 offset += 4; 00058 memcpy(outbuffer + offset, this->link_name, length_link_name); 00059 offset += length_link_name; 00060 offset += this->com.serialize(outbuffer + offset); 00061 union { 00062 bool real; 00063 uint8_t base; 00064 } u_gravity_mode; 00065 u_gravity_mode.real = this->gravity_mode; 00066 *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF; 00067 offset += sizeof(this->gravity_mode); 00068 union { 00069 double real; 00070 uint64_t base; 00071 } u_mass; 00072 u_mass.real = this->mass; 00073 *(outbuffer + offset + 0) = (u_mass.base >> (8 * 0)) & 0xFF; 00074 *(outbuffer + offset + 1) = (u_mass.base >> (8 * 1)) & 0xFF; 00075 *(outbuffer + offset + 2) = (u_mass.base >> (8 * 2)) & 0xFF; 00076 *(outbuffer + offset + 3) = (u_mass.base >> (8 * 3)) & 0xFF; 00077 *(outbuffer + offset + 4) = (u_mass.base >> (8 * 4)) & 0xFF; 00078 *(outbuffer + offset + 5) = (u_mass.base >> (8 * 5)) & 0xFF; 00079 *(outbuffer + offset + 6) = (u_mass.base >> (8 * 6)) & 0xFF; 00080 *(outbuffer + offset + 7) = (u_mass.base >> (8 * 7)) & 0xFF; 00081 offset += sizeof(this->mass); 00082 union { 00083 double real; 00084 uint64_t base; 00085 } u_ixx; 00086 u_ixx.real = this->ixx; 00087 *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF; 00088 *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF; 00089 *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF; 00090 *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF; 00091 *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF; 00092 *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF; 00093 *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF; 00094 *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF; 00095 offset += sizeof(this->ixx); 00096 union { 00097 double real; 00098 uint64_t base; 00099 } u_ixy; 00100 u_ixy.real = this->ixy; 00101 *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF; 00102 *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF; 00103 *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF; 00104 *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF; 00105 *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF; 00106 *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF; 00107 *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF; 00108 *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF; 00109 offset += sizeof(this->ixy); 00110 union { 00111 double real; 00112 uint64_t base; 00113 } u_ixz; 00114 u_ixz.real = this->ixz; 00115 *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF; 00116 *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF; 00117 *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF; 00118 *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF; 00119 *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF; 00120 *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF; 00121 *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF; 00122 *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF; 00123 offset += sizeof(this->ixz); 00124 union { 00125 double real; 00126 uint64_t base; 00127 } u_iyy; 00128 u_iyy.real = this->iyy; 00129 *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF; 00130 *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF; 00131 *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF; 00132 *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF; 00133 *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF; 00134 *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF; 00135 *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF; 00136 *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF; 00137 offset += sizeof(this->iyy); 00138 union { 00139 double real; 00140 uint64_t base; 00141 } u_iyz; 00142 u_iyz.real = this->iyz; 00143 *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF; 00144 *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF; 00145 *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF; 00146 *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF; 00147 *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF; 00148 *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF; 00149 *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF; 00150 *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF; 00151 offset += sizeof(this->iyz); 00152 union { 00153 double real; 00154 uint64_t base; 00155 } u_izz; 00156 u_izz.real = this->izz; 00157 *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF; 00158 *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF; 00159 *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF; 00160 *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF; 00161 *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF; 00162 *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF; 00163 *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF; 00164 *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF; 00165 offset += sizeof(this->izz); 00166 return offset; 00167 } 00168 00169 virtual int deserialize(unsigned char *inbuffer) 00170 { 00171 int offset = 0; 00172 uint32_t length_link_name; 00173 arrToVar(length_link_name, (inbuffer + offset)); 00174 offset += 4; 00175 for(unsigned int k= offset; k< offset+length_link_name; ++k){ 00176 inbuffer[k-1]=inbuffer[k]; 00177 } 00178 inbuffer[offset+length_link_name-1]=0; 00179 this->link_name = (char *)(inbuffer + offset-1); 00180 offset += length_link_name; 00181 offset += this->com.deserialize(inbuffer + offset); 00182 union { 00183 bool real; 00184 uint8_t base; 00185 } u_gravity_mode; 00186 u_gravity_mode.base = 0; 00187 u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00188 this->gravity_mode = u_gravity_mode.real; 00189 offset += sizeof(this->gravity_mode); 00190 union { 00191 double real; 00192 uint64_t base; 00193 } u_mass; 00194 u_mass.base = 0; 00195 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00196 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00197 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00198 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00199 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00200 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00201 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00202 u_mass.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00203 this->mass = u_mass.real; 00204 offset += sizeof(this->mass); 00205 union { 00206 double real; 00207 uint64_t base; 00208 } u_ixx; 00209 u_ixx.base = 0; 00210 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00211 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00212 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00213 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00214 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00215 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00216 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00217 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00218 this->ixx = u_ixx.real; 00219 offset += sizeof(this->ixx); 00220 union { 00221 double real; 00222 uint64_t base; 00223 } u_ixy; 00224 u_ixy.base = 0; 00225 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00226 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00227 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00228 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00229 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00230 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00231 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00232 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00233 this->ixy = u_ixy.real; 00234 offset += sizeof(this->ixy); 00235 union { 00236 double real; 00237 uint64_t base; 00238 } u_ixz; 00239 u_ixz.base = 0; 00240 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00241 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00242 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00243 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00244 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00245 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00246 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00247 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00248 this->ixz = u_ixz.real; 00249 offset += sizeof(this->ixz); 00250 union { 00251 double real; 00252 uint64_t base; 00253 } u_iyy; 00254 u_iyy.base = 0; 00255 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00256 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00257 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00258 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00259 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00260 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00261 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00262 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00263 this->iyy = u_iyy.real; 00264 offset += sizeof(this->iyy); 00265 union { 00266 double real; 00267 uint64_t base; 00268 } u_iyz; 00269 u_iyz.base = 0; 00270 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00271 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00272 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00273 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00274 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00275 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00276 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00277 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00278 this->iyz = u_iyz.real; 00279 offset += sizeof(this->iyz); 00280 union { 00281 double real; 00282 uint64_t base; 00283 } u_izz; 00284 u_izz.base = 0; 00285 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00286 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00287 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00288 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00289 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00290 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00291 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00292 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00293 this->izz = u_izz.real; 00294 offset += sizeof(this->izz); 00295 return offset; 00296 } 00297 00298 const char * getType(){ return SETLINKPROPERTIES; }; 00299 const char * getMD5(){ return "68ac74a4be01b165bc305b5ccdc45e91"; }; 00300 00301 }; 00302 00303 class SetLinkPropertiesResponse : public ros::Msg 00304 { 00305 public: 00306 typedef bool _success_type; 00307 _success_type success; 00308 typedef const char* _status_message_type; 00309 _status_message_type status_message; 00310 00311 SetLinkPropertiesResponse(): 00312 success(0), 00313 status_message("") 00314 { 00315 } 00316 00317 virtual int serialize(unsigned char *outbuffer) const 00318 { 00319 int offset = 0; 00320 union { 00321 bool real; 00322 uint8_t base; 00323 } u_success; 00324 u_success.real = this->success; 00325 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00326 offset += sizeof(this->success); 00327 uint32_t length_status_message = strlen(this->status_message); 00328 varToArr(outbuffer + offset, length_status_message); 00329 offset += 4; 00330 memcpy(outbuffer + offset, this->status_message, length_status_message); 00331 offset += length_status_message; 00332 return offset; 00333 } 00334 00335 virtual int deserialize(unsigned char *inbuffer) 00336 { 00337 int offset = 0; 00338 union { 00339 bool real; 00340 uint8_t base; 00341 } u_success; 00342 u_success.base = 0; 00343 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00344 this->success = u_success.real; 00345 offset += sizeof(this->success); 00346 uint32_t length_status_message; 00347 arrToVar(length_status_message, (inbuffer + offset)); 00348 offset += 4; 00349 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00350 inbuffer[k-1]=inbuffer[k]; 00351 } 00352 inbuffer[offset+length_status_message-1]=0; 00353 this->status_message = (char *)(inbuffer + offset-1); 00354 offset += length_status_message; 00355 return offset; 00356 } 00357 00358 const char * getType(){ return SETLINKPROPERTIES; }; 00359 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; 00360 00361 }; 00362 00363 class SetLinkProperties { 00364 public: 00365 typedef SetLinkPropertiesRequest Request; 00366 typedef SetLinkPropertiesResponse Response; 00367 }; 00368 00369 } 00370 #endif
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