ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

gazebo_msgs/GetPhysicsProperties.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_GetPhysicsProperties_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_GetPhysicsProperties_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7 #include "geometry_msgs/Vector3.h"
garyservin 0:fd24f7ca9688 8 #include "gazebo_msgs/ODEPhysics.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace gazebo_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
garyservin 0:fd24f7ca9688 14
garyservin 0:fd24f7ca9688 15 class GetPhysicsPropertiesRequest : public ros::Msg
garyservin 0:fd24f7ca9688 16 {
garyservin 0:fd24f7ca9688 17 public:
garyservin 0:fd24f7ca9688 18
garyservin 0:fd24f7ca9688 19 GetPhysicsPropertiesRequest()
garyservin 0:fd24f7ca9688 20 {
garyservin 0:fd24f7ca9688 21 }
garyservin 0:fd24f7ca9688 22
garyservin 0:fd24f7ca9688 23 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 int offset = 0;
garyservin 0:fd24f7ca9688 26 return offset;
garyservin 0:fd24f7ca9688 27 }
garyservin 0:fd24f7ca9688 28
garyservin 0:fd24f7ca9688 29 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 30 {
garyservin 0:fd24f7ca9688 31 int offset = 0;
garyservin 0:fd24f7ca9688 32 return offset;
garyservin 0:fd24f7ca9688 33 }
garyservin 0:fd24f7ca9688 34
garyservin 0:fd24f7ca9688 35 const char * getType(){ return GETPHYSICSPROPERTIES; };
garyservin 0:fd24f7ca9688 36 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 };
garyservin 0:fd24f7ca9688 39
garyservin 0:fd24f7ca9688 40 class GetPhysicsPropertiesResponse : public ros::Msg
garyservin 0:fd24f7ca9688 41 {
garyservin 0:fd24f7ca9688 42 public:
garyservin 0:fd24f7ca9688 43 double time_step;
garyservin 0:fd24f7ca9688 44 bool pause;
garyservin 0:fd24f7ca9688 45 double max_update_rate;
garyservin 0:fd24f7ca9688 46 geometry_msgs::Vector3 gravity;
garyservin 0:fd24f7ca9688 47 gazebo_msgs::ODEPhysics ode_config;
garyservin 0:fd24f7ca9688 48 bool success;
garyservin 0:fd24f7ca9688 49 const char* status_message;
garyservin 0:fd24f7ca9688 50
garyservin 0:fd24f7ca9688 51 GetPhysicsPropertiesResponse():
garyservin 0:fd24f7ca9688 52 time_step(0),
garyservin 0:fd24f7ca9688 53 pause(0),
garyservin 0:fd24f7ca9688 54 max_update_rate(0),
garyservin 0:fd24f7ca9688 55 gravity(),
garyservin 0:fd24f7ca9688 56 ode_config(),
garyservin 0:fd24f7ca9688 57 success(0),
garyservin 0:fd24f7ca9688 58 status_message("")
garyservin 0:fd24f7ca9688 59 {
garyservin 0:fd24f7ca9688 60 }
garyservin 0:fd24f7ca9688 61
garyservin 0:fd24f7ca9688 62 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 63 {
garyservin 0:fd24f7ca9688 64 int offset = 0;
garyservin 0:fd24f7ca9688 65 union {
garyservin 0:fd24f7ca9688 66 double real;
garyservin 0:fd24f7ca9688 67 uint64_t base;
garyservin 0:fd24f7ca9688 68 } u_time_step;
garyservin 0:fd24f7ca9688 69 u_time_step.real = this->time_step;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 75 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 76 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 77 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 78 offset += sizeof(this->time_step);
garyservin 0:fd24f7ca9688 79 union {
garyservin 0:fd24f7ca9688 80 bool real;
garyservin 0:fd24f7ca9688 81 uint8_t base;
garyservin 0:fd24f7ca9688 82 } u_pause;
garyservin 0:fd24f7ca9688 83 u_pause.real = this->pause;
garyservin 0:fd24f7ca9688 84 *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 85 offset += sizeof(this->pause);
garyservin 0:fd24f7ca9688 86 union {
garyservin 0:fd24f7ca9688 87 double real;
garyservin 0:fd24f7ca9688 88 uint64_t base;
garyservin 0:fd24f7ca9688 89 } u_max_update_rate;
garyservin 0:fd24f7ca9688 90 u_max_update_rate.real = this->max_update_rate;
garyservin 0:fd24f7ca9688 91 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 92 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 93 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 94 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 95 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 96 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 97 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 98 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 99 offset += sizeof(this->max_update_rate);
garyservin 0:fd24f7ca9688 100 offset += this->gravity.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 101 offset += this->ode_config.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 102 union {
garyservin 0:fd24f7ca9688 103 bool real;
garyservin 0:fd24f7ca9688 104 uint8_t base;
garyservin 0:fd24f7ca9688 105 } u_success;
garyservin 0:fd24f7ca9688 106 u_success.real = this->success;
garyservin 0:fd24f7ca9688 107 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 108 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 109 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:fd24f7ca9688 110 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 111 offset += 4;
garyservin 0:fd24f7ca9688 112 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:fd24f7ca9688 113 offset += length_status_message;
garyservin 0:fd24f7ca9688 114 return offset;
garyservin 0:fd24f7ca9688 115 }
garyservin 0:fd24f7ca9688 116
garyservin 0:fd24f7ca9688 117 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 118 {
garyservin 0:fd24f7ca9688 119 int offset = 0;
garyservin 0:fd24f7ca9688 120 union {
garyservin 0:fd24f7ca9688 121 double real;
garyservin 0:fd24f7ca9688 122 uint64_t base;
garyservin 0:fd24f7ca9688 123 } u_time_step;
garyservin 0:fd24f7ca9688 124 u_time_step.base = 0;
garyservin 0:fd24f7ca9688 125 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 126 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 127 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 128 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 129 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 130 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 131 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 132 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 133 this->time_step = u_time_step.real;
garyservin 0:fd24f7ca9688 134 offset += sizeof(this->time_step);
garyservin 0:fd24f7ca9688 135 union {
garyservin 0:fd24f7ca9688 136 bool real;
garyservin 0:fd24f7ca9688 137 uint8_t base;
garyservin 0:fd24f7ca9688 138 } u_pause;
garyservin 0:fd24f7ca9688 139 u_pause.base = 0;
garyservin 0:fd24f7ca9688 140 u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 141 this->pause = u_pause.real;
garyservin 0:fd24f7ca9688 142 offset += sizeof(this->pause);
garyservin 0:fd24f7ca9688 143 union {
garyservin 0:fd24f7ca9688 144 double real;
garyservin 0:fd24f7ca9688 145 uint64_t base;
garyservin 0:fd24f7ca9688 146 } u_max_update_rate;
garyservin 0:fd24f7ca9688 147 u_max_update_rate.base = 0;
garyservin 0:fd24f7ca9688 148 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 149 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 150 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 151 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 152 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 153 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 154 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 155 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 156 this->max_update_rate = u_max_update_rate.real;
garyservin 0:fd24f7ca9688 157 offset += sizeof(this->max_update_rate);
garyservin 0:fd24f7ca9688 158 offset += this->gravity.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 159 offset += this->ode_config.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 160 union {
garyservin 0:fd24f7ca9688 161 bool real;
garyservin 0:fd24f7ca9688 162 uint8_t base;
garyservin 0:fd24f7ca9688 163 } u_success;
garyservin 0:fd24f7ca9688 164 u_success.base = 0;
garyservin 0:fd24f7ca9688 165 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 166 this->success = u_success.real;
garyservin 0:fd24f7ca9688 167 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 168 uint32_t length_status_message;
garyservin 0:fd24f7ca9688 169 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 170 offset += 4;
garyservin 0:fd24f7ca9688 171 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:fd24f7ca9688 172 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 173 }
garyservin 0:fd24f7ca9688 174 inbuffer[offset+length_status_message-1]=0;
garyservin 0:fd24f7ca9688 175 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 176 offset += length_status_message;
garyservin 0:fd24f7ca9688 177 return offset;
garyservin 0:fd24f7ca9688 178 }
garyservin 0:fd24f7ca9688 179
garyservin 0:fd24f7ca9688 180 const char * getType(){ return GETPHYSICSPROPERTIES; };
garyservin 0:fd24f7ca9688 181 const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
garyservin 0:fd24f7ca9688 182
garyservin 0:fd24f7ca9688 183 };
garyservin 0:fd24f7ca9688 184
garyservin 0:fd24f7ca9688 185 class GetPhysicsProperties {
garyservin 0:fd24f7ca9688 186 public:
garyservin 0:fd24f7ca9688 187 typedef GetPhysicsPropertiesRequest Request;
garyservin 0:fd24f7ca9688 188 typedef GetPhysicsPropertiesResponse Response;
garyservin 0:fd24f7ca9688 189 };
garyservin 0:fd24f7ca9688 190
garyservin 0:fd24f7ca9688 191 }
garyservin 0:fd24f7ca9688 192 #endif