Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

gazebo_msgs/ContactState.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_gazebo_msgs_ContactState_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_gazebo_msgs_ContactState_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "geometry_msgs/Wrench.h"
Gary Servin 0:04ac6be8229a 9 #include "geometry_msgs/Vector3.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class ContactState : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef const char* _info_type;
Gary Servin 0:04ac6be8229a 18 _info_type info;
Gary Servin 0:04ac6be8229a 19 typedef const char* _collision1_name_type;
Gary Servin 0:04ac6be8229a 20 _collision1_name_type collision1_name;
Gary Servin 0:04ac6be8229a 21 typedef const char* _collision2_name_type;
Gary Servin 0:04ac6be8229a 22 _collision2_name_type collision2_name;
Gary Servin 0:04ac6be8229a 23 uint32_t wrenches_length;
Gary Servin 0:04ac6be8229a 24 typedef geometry_msgs::Wrench _wrenches_type;
Gary Servin 0:04ac6be8229a 25 _wrenches_type st_wrenches;
Gary Servin 0:04ac6be8229a 26 _wrenches_type * wrenches;
Gary Servin 0:04ac6be8229a 27 typedef geometry_msgs::Wrench _total_wrench_type;
Gary Servin 0:04ac6be8229a 28 _total_wrench_type total_wrench;
Gary Servin 0:04ac6be8229a 29 uint32_t contact_positions_length;
Gary Servin 0:04ac6be8229a 30 typedef geometry_msgs::Vector3 _contact_positions_type;
Gary Servin 0:04ac6be8229a 31 _contact_positions_type st_contact_positions;
Gary Servin 0:04ac6be8229a 32 _contact_positions_type * contact_positions;
Gary Servin 0:04ac6be8229a 33 uint32_t contact_normals_length;
Gary Servin 0:04ac6be8229a 34 typedef geometry_msgs::Vector3 _contact_normals_type;
Gary Servin 0:04ac6be8229a 35 _contact_normals_type st_contact_normals;
Gary Servin 0:04ac6be8229a 36 _contact_normals_type * contact_normals;
Gary Servin 0:04ac6be8229a 37 uint32_t depths_length;
Gary Servin 0:04ac6be8229a 38 typedef double _depths_type;
Gary Servin 0:04ac6be8229a 39 _depths_type st_depths;
Gary Servin 0:04ac6be8229a 40 _depths_type * depths;
Gary Servin 0:04ac6be8229a 41
Gary Servin 0:04ac6be8229a 42 ContactState():
Gary Servin 0:04ac6be8229a 43 info(""),
Gary Servin 0:04ac6be8229a 44 collision1_name(""),
Gary Servin 0:04ac6be8229a 45 collision2_name(""),
Gary Servin 0:04ac6be8229a 46 wrenches_length(0), wrenches(NULL),
Gary Servin 0:04ac6be8229a 47 total_wrench(),
Gary Servin 0:04ac6be8229a 48 contact_positions_length(0), contact_positions(NULL),
Gary Servin 0:04ac6be8229a 49 contact_normals_length(0), contact_normals(NULL),
Gary Servin 0:04ac6be8229a 50 depths_length(0), depths(NULL)
Gary Servin 0:04ac6be8229a 51 {
Gary Servin 0:04ac6be8229a 52 }
Gary Servin 0:04ac6be8229a 53
Gary Servin 0:04ac6be8229a 54 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 55 {
Gary Servin 0:04ac6be8229a 56 int offset = 0;
Gary Servin 0:04ac6be8229a 57 uint32_t length_info = strlen(this->info);
Gary Servin 0:04ac6be8229a 58 varToArr(outbuffer + offset, length_info);
Gary Servin 0:04ac6be8229a 59 offset += 4;
Gary Servin 0:04ac6be8229a 60 memcpy(outbuffer + offset, this->info, length_info);
Gary Servin 0:04ac6be8229a 61 offset += length_info;
Gary Servin 0:04ac6be8229a 62 uint32_t length_collision1_name = strlen(this->collision1_name);
Gary Servin 0:04ac6be8229a 63 varToArr(outbuffer + offset, length_collision1_name);
Gary Servin 0:04ac6be8229a 64 offset += 4;
Gary Servin 0:04ac6be8229a 65 memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
Gary Servin 0:04ac6be8229a 66 offset += length_collision1_name;
Gary Servin 0:04ac6be8229a 67 uint32_t length_collision2_name = strlen(this->collision2_name);
Gary Servin 0:04ac6be8229a 68 varToArr(outbuffer + offset, length_collision2_name);
Gary Servin 0:04ac6be8229a 69 offset += 4;
Gary Servin 0:04ac6be8229a 70 memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
Gary Servin 0:04ac6be8229a 71 offset += length_collision2_name;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 0) = (this->wrenches_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 1) = (this->wrenches_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 2) = (this->wrenches_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 3) = (this->wrenches_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 offset += sizeof(this->wrenches_length);
Gary Servin 0:04ac6be8229a 77 for( uint32_t i = 0; i < wrenches_length; i++){
Gary Servin 0:04ac6be8229a 78 offset += this->wrenches[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 79 }
Gary Servin 0:04ac6be8229a 80 offset += this->total_wrench.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 81 *(outbuffer + offset + 0) = (this->contact_positions_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 82 *(outbuffer + offset + 1) = (this->contact_positions_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 83 *(outbuffer + offset + 2) = (this->contact_positions_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 3) = (this->contact_positions_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 offset += sizeof(this->contact_positions_length);
Gary Servin 0:04ac6be8229a 86 for( uint32_t i = 0; i < contact_positions_length; i++){
Gary Servin 0:04ac6be8229a 87 offset += this->contact_positions[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 88 }
Gary Servin 0:04ac6be8229a 89 *(outbuffer + offset + 0) = (this->contact_normals_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 90 *(outbuffer + offset + 1) = (this->contact_normals_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 91 *(outbuffer + offset + 2) = (this->contact_normals_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 92 *(outbuffer + offset + 3) = (this->contact_normals_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 93 offset += sizeof(this->contact_normals_length);
Gary Servin 0:04ac6be8229a 94 for( uint32_t i = 0; i < contact_normals_length; i++){
Gary Servin 0:04ac6be8229a 95 offset += this->contact_normals[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 96 }
Gary Servin 0:04ac6be8229a 97 *(outbuffer + offset + 0) = (this->depths_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 98 *(outbuffer + offset + 1) = (this->depths_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 99 *(outbuffer + offset + 2) = (this->depths_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 100 *(outbuffer + offset + 3) = (this->depths_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 101 offset += sizeof(this->depths_length);
Gary Servin 0:04ac6be8229a 102 for( uint32_t i = 0; i < depths_length; i++){
Gary Servin 0:04ac6be8229a 103 union {
Gary Servin 0:04ac6be8229a 104 double real;
Gary Servin 0:04ac6be8229a 105 uint64_t base;
Gary Servin 0:04ac6be8229a 106 } u_depthsi;
Gary Servin 0:04ac6be8229a 107 u_depthsi.real = this->depths[i];
Gary Servin 0:04ac6be8229a 108 *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 109 *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 110 *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 111 *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 112 *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 113 *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 114 *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 115 *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 116 offset += sizeof(this->depths[i]);
Gary Servin 0:04ac6be8229a 117 }
Gary Servin 0:04ac6be8229a 118 return offset;
Gary Servin 0:04ac6be8229a 119 }
Gary Servin 0:04ac6be8229a 120
Gary Servin 0:04ac6be8229a 121 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 122 {
Gary Servin 0:04ac6be8229a 123 int offset = 0;
Gary Servin 0:04ac6be8229a 124 uint32_t length_info;
Gary Servin 0:04ac6be8229a 125 arrToVar(length_info, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 126 offset += 4;
Gary Servin 0:04ac6be8229a 127 for(unsigned int k= offset; k< offset+length_info; ++k){
Gary Servin 0:04ac6be8229a 128 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 129 }
Gary Servin 0:04ac6be8229a 130 inbuffer[offset+length_info-1]=0;
Gary Servin 0:04ac6be8229a 131 this->info = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 132 offset += length_info;
Gary Servin 0:04ac6be8229a 133 uint32_t length_collision1_name;
Gary Servin 0:04ac6be8229a 134 arrToVar(length_collision1_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 135 offset += 4;
Gary Servin 0:04ac6be8229a 136 for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
Gary Servin 0:04ac6be8229a 137 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 138 }
Gary Servin 0:04ac6be8229a 139 inbuffer[offset+length_collision1_name-1]=0;
Gary Servin 0:04ac6be8229a 140 this->collision1_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 141 offset += length_collision1_name;
Gary Servin 0:04ac6be8229a 142 uint32_t length_collision2_name;
Gary Servin 0:04ac6be8229a 143 arrToVar(length_collision2_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 144 offset += 4;
Gary Servin 0:04ac6be8229a 145 for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
Gary Servin 0:04ac6be8229a 146 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 147 }
Gary Servin 0:04ac6be8229a 148 inbuffer[offset+length_collision2_name-1]=0;
Gary Servin 0:04ac6be8229a 149 this->collision2_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 150 offset += length_collision2_name;
Gary Servin 0:04ac6be8229a 151 uint32_t wrenches_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 152 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 153 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 154 wrenches_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 155 offset += sizeof(this->wrenches_length);
Gary Servin 0:04ac6be8229a 156 if(wrenches_lengthT > wrenches_length)
Gary Servin 0:04ac6be8229a 157 this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
Gary Servin 0:04ac6be8229a 158 wrenches_length = wrenches_lengthT;
Gary Servin 0:04ac6be8229a 159 for( uint32_t i = 0; i < wrenches_length; i++){
Gary Servin 0:04ac6be8229a 160 offset += this->st_wrenches.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 161 memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
Gary Servin 0:04ac6be8229a 162 }
Gary Servin 0:04ac6be8229a 163 offset += this->total_wrench.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 164 uint32_t contact_positions_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 165 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 166 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 167 contact_positions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 168 offset += sizeof(this->contact_positions_length);
Gary Servin 0:04ac6be8229a 169 if(contact_positions_lengthT > contact_positions_length)
Gary Servin 0:04ac6be8229a 170 this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
Gary Servin 0:04ac6be8229a 171 contact_positions_length = contact_positions_lengthT;
Gary Servin 0:04ac6be8229a 172 for( uint32_t i = 0; i < contact_positions_length; i++){
Gary Servin 0:04ac6be8229a 173 offset += this->st_contact_positions.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 174 memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
Gary Servin 0:04ac6be8229a 175 }
Gary Servin 0:04ac6be8229a 176 uint32_t contact_normals_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 177 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 178 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 179 contact_normals_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 180 offset += sizeof(this->contact_normals_length);
Gary Servin 0:04ac6be8229a 181 if(contact_normals_lengthT > contact_normals_length)
Gary Servin 0:04ac6be8229a 182 this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
Gary Servin 0:04ac6be8229a 183 contact_normals_length = contact_normals_lengthT;
Gary Servin 0:04ac6be8229a 184 for( uint32_t i = 0; i < contact_normals_length; i++){
Gary Servin 0:04ac6be8229a 185 offset += this->st_contact_normals.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 186 memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
Gary Servin 0:04ac6be8229a 187 }
Gary Servin 0:04ac6be8229a 188 uint32_t depths_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 189 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 190 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 191 depths_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 192 offset += sizeof(this->depths_length);
Gary Servin 0:04ac6be8229a 193 if(depths_lengthT > depths_length)
Gary Servin 0:04ac6be8229a 194 this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double));
Gary Servin 0:04ac6be8229a 195 depths_length = depths_lengthT;
Gary Servin 0:04ac6be8229a 196 for( uint32_t i = 0; i < depths_length; i++){
Gary Servin 0:04ac6be8229a 197 union {
Gary Servin 0:04ac6be8229a 198 double real;
Gary Servin 0:04ac6be8229a 199 uint64_t base;
Gary Servin 0:04ac6be8229a 200 } u_st_depths;
Gary Servin 0:04ac6be8229a 201 u_st_depths.base = 0;
Gary Servin 0:04ac6be8229a 202 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 203 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 204 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 205 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 206 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 207 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 208 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 209 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 210 this->st_depths = u_st_depths.real;
Gary Servin 0:04ac6be8229a 211 offset += sizeof(this->st_depths);
Gary Servin 0:04ac6be8229a 212 memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double));
Gary Servin 0:04ac6be8229a 213 }
Gary Servin 0:04ac6be8229a 214 return offset;
Gary Servin 0:04ac6be8229a 215 }
Gary Servin 0:04ac6be8229a 216
Gary Servin 0:04ac6be8229a 217 const char * getType(){ return "gazebo_msgs/ContactState"; };
Gary Servin 0:04ac6be8229a 218 const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
Gary Servin 0:04ac6be8229a 219
Gary Servin 0:04ac6be8229a 220 };
Gary Servin 0:04ac6be8229a 221
Gary Servin 0:04ac6be8229a 222 }
Gary Servin 0:04ac6be8229a 223 #endif