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/SetJointTrajectory.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_SERVICE_SetJointTrajectory_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_SERVICE_SetJointTrajectory_h
Gary Servin 0:04ac6be8229a 3 #include <stdint.h>
Gary Servin 0:04ac6be8229a 4 #include <string.h>
Gary Servin 0:04ac6be8229a 5 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 6 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 7 #include "trajectory_msgs/JointTrajectory.h"
Gary Servin 0:04ac6be8229a 8 #include "geometry_msgs/Pose.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace gazebo_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 static const char SETJOINTTRAJECTORY[] = "gazebo_msgs/SetJointTrajectory";
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class SetJointTrajectoryRequest : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef const char* _model_name_type;
Gary Servin 0:04ac6be8229a 19 _model_name_type model_name;
Gary Servin 0:04ac6be8229a 20 typedef trajectory_msgs::JointTrajectory _joint_trajectory_type;
Gary Servin 0:04ac6be8229a 21 _joint_trajectory_type joint_trajectory;
Gary Servin 0:04ac6be8229a 22 typedef geometry_msgs::Pose _model_pose_type;
Gary Servin 0:04ac6be8229a 23 _model_pose_type model_pose;
Gary Servin 0:04ac6be8229a 24 typedef bool _set_model_pose_type;
Gary Servin 0:04ac6be8229a 25 _set_model_pose_type set_model_pose;
Gary Servin 0:04ac6be8229a 26 typedef bool _disable_physics_updates_type;
Gary Servin 0:04ac6be8229a 27 _disable_physics_updates_type disable_physics_updates;
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 SetJointTrajectoryRequest():
Gary Servin 0:04ac6be8229a 30 model_name(""),
Gary Servin 0:04ac6be8229a 31 joint_trajectory(),
Gary Servin 0:04ac6be8229a 32 model_pose(),
Gary Servin 0:04ac6be8229a 33 set_model_pose(0),
Gary Servin 0:04ac6be8229a 34 disable_physics_updates(0)
Gary Servin 0:04ac6be8229a 35 {
Gary Servin 0:04ac6be8229a 36 }
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 int offset = 0;
Gary Servin 0:04ac6be8229a 41 uint32_t length_model_name = strlen(this->model_name);
Gary Servin 0:04ac6be8229a 42 varToArr(outbuffer + offset, length_model_name);
Gary Servin 0:04ac6be8229a 43 offset += 4;
Gary Servin 0:04ac6be8229a 44 memcpy(outbuffer + offset, this->model_name, length_model_name);
Gary Servin 0:04ac6be8229a 45 offset += length_model_name;
Gary Servin 0:04ac6be8229a 46 offset += this->joint_trajectory.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 47 offset += this->model_pose.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 48 union {
Gary Servin 0:04ac6be8229a 49 bool real;
Gary Servin 0:04ac6be8229a 50 uint8_t base;
Gary Servin 0:04ac6be8229a 51 } u_set_model_pose;
Gary Servin 0:04ac6be8229a 52 u_set_model_pose.real = this->set_model_pose;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (u_set_model_pose.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 offset += sizeof(this->set_model_pose);
Gary Servin 0:04ac6be8229a 55 union {
Gary Servin 0:04ac6be8229a 56 bool real;
Gary Servin 0:04ac6be8229a 57 uint8_t base;
Gary Servin 0:04ac6be8229a 58 } u_disable_physics_updates;
Gary Servin 0:04ac6be8229a 59 u_disable_physics_updates.real = this->disable_physics_updates;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 0) = (u_disable_physics_updates.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 offset += sizeof(this->disable_physics_updates);
Gary Servin 0:04ac6be8229a 62 return offset;
Gary Servin 0:04ac6be8229a 63 }
Gary Servin 0:04ac6be8229a 64
Gary Servin 0:04ac6be8229a 65 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 66 {
Gary Servin 0:04ac6be8229a 67 int offset = 0;
Gary Servin 0:04ac6be8229a 68 uint32_t length_model_name;
Gary Servin 0:04ac6be8229a 69 arrToVar(length_model_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 70 offset += 4;
Gary Servin 0:04ac6be8229a 71 for(unsigned int k= offset; k< offset+length_model_name; ++k){
Gary Servin 0:04ac6be8229a 72 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 73 }
Gary Servin 0:04ac6be8229a 74 inbuffer[offset+length_model_name-1]=0;
Gary Servin 0:04ac6be8229a 75 this->model_name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 76 offset += length_model_name;
Gary Servin 0:04ac6be8229a 77 offset += this->joint_trajectory.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 78 offset += this->model_pose.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 79 union {
Gary Servin 0:04ac6be8229a 80 bool real;
Gary Servin 0:04ac6be8229a 81 uint8_t base;
Gary Servin 0:04ac6be8229a 82 } u_set_model_pose;
Gary Servin 0:04ac6be8229a 83 u_set_model_pose.base = 0;
Gary Servin 0:04ac6be8229a 84 u_set_model_pose.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 85 this->set_model_pose = u_set_model_pose.real;
Gary Servin 0:04ac6be8229a 86 offset += sizeof(this->set_model_pose);
Gary Servin 0:04ac6be8229a 87 union {
Gary Servin 0:04ac6be8229a 88 bool real;
Gary Servin 0:04ac6be8229a 89 uint8_t base;
Gary Servin 0:04ac6be8229a 90 } u_disable_physics_updates;
Gary Servin 0:04ac6be8229a 91 u_disable_physics_updates.base = 0;
Gary Servin 0:04ac6be8229a 92 u_disable_physics_updates.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 93 this->disable_physics_updates = u_disable_physics_updates.real;
Gary Servin 0:04ac6be8229a 94 offset += sizeof(this->disable_physics_updates);
Gary Servin 0:04ac6be8229a 95 return offset;
Gary Servin 0:04ac6be8229a 96 }
Gary Servin 0:04ac6be8229a 97
Gary Servin 0:04ac6be8229a 98 const char * getType(){ return SETJOINTTRAJECTORY; };
Gary Servin 0:04ac6be8229a 99 const char * getMD5(){ return "649dd2eba5ffd358069238825f9f85ab"; };
Gary Servin 0:04ac6be8229a 100
Gary Servin 0:04ac6be8229a 101 };
Gary Servin 0:04ac6be8229a 102
Gary Servin 0:04ac6be8229a 103 class SetJointTrajectoryResponse : public ros::Msg
Gary Servin 0:04ac6be8229a 104 {
Gary Servin 0:04ac6be8229a 105 public:
Gary Servin 0:04ac6be8229a 106 typedef bool _success_type;
Gary Servin 0:04ac6be8229a 107 _success_type success;
Gary Servin 0:04ac6be8229a 108 typedef const char* _status_message_type;
Gary Servin 0:04ac6be8229a 109 _status_message_type status_message;
Gary Servin 0:04ac6be8229a 110
Gary Servin 0:04ac6be8229a 111 SetJointTrajectoryResponse():
Gary Servin 0:04ac6be8229a 112 success(0),
Gary Servin 0:04ac6be8229a 113 status_message("")
Gary Servin 0:04ac6be8229a 114 {
Gary Servin 0:04ac6be8229a 115 }
Gary Servin 0:04ac6be8229a 116
Gary Servin 0:04ac6be8229a 117 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 118 {
Gary Servin 0:04ac6be8229a 119 int offset = 0;
Gary Servin 0:04ac6be8229a 120 union {
Gary Servin 0:04ac6be8229a 121 bool real;
Gary Servin 0:04ac6be8229a 122 uint8_t base;
Gary Servin 0:04ac6be8229a 123 } u_success;
Gary Servin 0:04ac6be8229a 124 u_success.real = this->success;
Gary Servin 0:04ac6be8229a 125 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 126 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 127 uint32_t length_status_message = strlen(this->status_message);
Gary Servin 0:04ac6be8229a 128 varToArr(outbuffer + offset, length_status_message);
Gary Servin 0:04ac6be8229a 129 offset += 4;
Gary Servin 0:04ac6be8229a 130 memcpy(outbuffer + offset, this->status_message, length_status_message);
Gary Servin 0:04ac6be8229a 131 offset += length_status_message;
Gary Servin 0:04ac6be8229a 132 return offset;
Gary Servin 0:04ac6be8229a 133 }
Gary Servin 0:04ac6be8229a 134
Gary Servin 0:04ac6be8229a 135 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 136 {
Gary Servin 0:04ac6be8229a 137 int offset = 0;
Gary Servin 0:04ac6be8229a 138 union {
Gary Servin 0:04ac6be8229a 139 bool real;
Gary Servin 0:04ac6be8229a 140 uint8_t base;
Gary Servin 0:04ac6be8229a 141 } u_success;
Gary Servin 0:04ac6be8229a 142 u_success.base = 0;
Gary Servin 0:04ac6be8229a 143 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 144 this->success = u_success.real;
Gary Servin 0:04ac6be8229a 145 offset += sizeof(this->success);
Gary Servin 0:04ac6be8229a 146 uint32_t length_status_message;
Gary Servin 0:04ac6be8229a 147 arrToVar(length_status_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 148 offset += 4;
Gary Servin 0:04ac6be8229a 149 for(unsigned int k= offset; k< offset+length_status_message; ++k){
Gary Servin 0:04ac6be8229a 150 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 151 }
Gary Servin 0:04ac6be8229a 152 inbuffer[offset+length_status_message-1]=0;
Gary Servin 0:04ac6be8229a 153 this->status_message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 154 offset += length_status_message;
Gary Servin 0:04ac6be8229a 155 return offset;
Gary Servin 0:04ac6be8229a 156 }
Gary Servin 0:04ac6be8229a 157
Gary Servin 0:04ac6be8229a 158 const char * getType(){ return SETJOINTTRAJECTORY; };
Gary Servin 0:04ac6be8229a 159 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
Gary Servin 0:04ac6be8229a 160
Gary Servin 0:04ac6be8229a 161 };
Gary Servin 0:04ac6be8229a 162
Gary Servin 0:04ac6be8229a 163 class SetJointTrajectory {
Gary Servin 0:04ac6be8229a 164 public:
Gary Servin 0:04ac6be8229a 165 typedef SetJointTrajectoryRequest Request;
Gary Servin 0:04ac6be8229a 166 typedef SetJointTrajectoryResponse Response;
Gary Servin 0:04ac6be8229a 167 };
Gary Servin 0:04ac6be8229a 168
Gary Servin 0:04ac6be8229a 169 }
Gary Servin 0:04ac6be8229a 170 #endif