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/LinkState.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_gazebo_msgs_LinkState_h
garyservin 0:fd24f7ca9688 2 #define _ROS_gazebo_msgs_LinkState_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "geometry_msgs/Pose.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/Twist.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace gazebo_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class LinkState : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 const char* link_name;
garyservin 0:fd24f7ca9688 18 geometry_msgs::Pose pose;
garyservin 0:fd24f7ca9688 19 geometry_msgs::Twist twist;
garyservin 0:fd24f7ca9688 20 const char* reference_frame;
garyservin 0:fd24f7ca9688 21
garyservin 0:fd24f7ca9688 22 LinkState():
garyservin 0:fd24f7ca9688 23 link_name(""),
garyservin 0:fd24f7ca9688 24 pose(),
garyservin 0:fd24f7ca9688 25 twist(),
garyservin 0:fd24f7ca9688 26 reference_frame("")
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 }
garyservin 0:fd24f7ca9688 29
garyservin 0:fd24f7ca9688 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 int offset = 0;
garyservin 0:fd24f7ca9688 33 uint32_t length_link_name = strlen(this->link_name);
garyservin 0:fd24f7ca9688 34 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 35 offset += 4;
garyservin 0:fd24f7ca9688 36 memcpy(outbuffer + offset, this->link_name, length_link_name);
garyservin 0:fd24f7ca9688 37 offset += length_link_name;
garyservin 0:fd24f7ca9688 38 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 39 offset += this->twist.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 40 uint32_t length_reference_frame = strlen(this->reference_frame);
garyservin 0:fd24f7ca9688 41 memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 42 offset += 4;
garyservin 0:fd24f7ca9688 43 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
garyservin 0:fd24f7ca9688 44 offset += length_reference_frame;
garyservin 0:fd24f7ca9688 45 return offset;
garyservin 0:fd24f7ca9688 46 }
garyservin 0:fd24f7ca9688 47
garyservin 0:fd24f7ca9688 48 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 49 {
garyservin 0:fd24f7ca9688 50 int offset = 0;
garyservin 0:fd24f7ca9688 51 uint32_t length_link_name;
garyservin 0:fd24f7ca9688 52 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 53 offset += 4;
garyservin 0:fd24f7ca9688 54 for(unsigned int k= offset; k< offset+length_link_name; ++k){
garyservin 0:fd24f7ca9688 55 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 56 }
garyservin 0:fd24f7ca9688 57 inbuffer[offset+length_link_name-1]=0;
garyservin 0:fd24f7ca9688 58 this->link_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 59 offset += length_link_name;
garyservin 0:fd24f7ca9688 60 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 61 offset += this->twist.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 62 uint32_t length_reference_frame;
garyservin 0:fd24f7ca9688 63 memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 64 offset += 4;
garyservin 0:fd24f7ca9688 65 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
garyservin 0:fd24f7ca9688 66 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 67 }
garyservin 0:fd24f7ca9688 68 inbuffer[offset+length_reference_frame-1]=0;
garyservin 0:fd24f7ca9688 69 this->reference_frame = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 70 offset += length_reference_frame;
garyservin 0:fd24f7ca9688 71 return offset;
garyservin 0:fd24f7ca9688 72 }
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 const char * getType(){ return "gazebo_msgs/LinkState"; };
garyservin 0:fd24f7ca9688 75 const char * getMD5(){ return "0818ebbf28ce3a08d48ab1eaa7309ebe"; };
garyservin 0:fd24f7ca9688 76
garyservin 0:fd24f7ca9688 77 };
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 }
garyservin 0:fd24f7ca9688 80 #endif