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/LinkStates.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_LinkStates_h
garyservin 0:fd24f7ca9688 2 #define _ROS_gazebo_msgs_LinkStates_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 LinkStates : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 uint8_t name_length;
garyservin 0:fd24f7ca9688 18 char* st_name;
garyservin 0:fd24f7ca9688 19 char* * name;
garyservin 0:fd24f7ca9688 20 uint8_t pose_length;
garyservin 0:fd24f7ca9688 21 geometry_msgs::Pose st_pose;
garyservin 0:fd24f7ca9688 22 geometry_msgs::Pose * pose;
garyservin 0:fd24f7ca9688 23 uint8_t twist_length;
garyservin 0:fd24f7ca9688 24 geometry_msgs::Twist st_twist;
garyservin 0:fd24f7ca9688 25 geometry_msgs::Twist * twist;
garyservin 0:fd24f7ca9688 26
garyservin 0:fd24f7ca9688 27 LinkStates():
garyservin 0:fd24f7ca9688 28 name_length(0), name(NULL),
garyservin 0:fd24f7ca9688 29 pose_length(0), pose(NULL),
garyservin 0:fd24f7ca9688 30 twist_length(0), twist(NULL)
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 }
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 35 {
garyservin 0:fd24f7ca9688 36 int offset = 0;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset++) = name_length;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 41 for( uint8_t i = 0; i < name_length; i++){
garyservin 0:fd24f7ca9688 42 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:fd24f7ca9688 43 memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 44 offset += 4;
garyservin 0:fd24f7ca9688 45 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:fd24f7ca9688 46 offset += length_namei;
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset++) = pose_length;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 52 for( uint8_t i = 0; i < pose_length; i++){
garyservin 0:fd24f7ca9688 53 offset += this->pose[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 54 }
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset++) = twist_length;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 59 for( uint8_t i = 0; i < twist_length; i++){
garyservin 0:fd24f7ca9688 60 offset += this->twist[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 61 }
garyservin 0:fd24f7ca9688 62 return offset;
garyservin 0:fd24f7ca9688 63 }
garyservin 0:fd24f7ca9688 64
garyservin 0:fd24f7ca9688 65 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 66 {
garyservin 0:fd24f7ca9688 67 int offset = 0;
garyservin 0:fd24f7ca9688 68 uint8_t name_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 69 if(name_lengthT > name_length)
garyservin 0:fd24f7ca9688 70 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:fd24f7ca9688 71 offset += 3;
garyservin 0:fd24f7ca9688 72 name_length = name_lengthT;
garyservin 0:fd24f7ca9688 73 for( uint8_t i = 0; i < name_length; i++){
garyservin 0:fd24f7ca9688 74 uint32_t length_st_name;
garyservin 0:fd24f7ca9688 75 memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 76 offset += 4;
garyservin 0:fd24f7ca9688 77 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:fd24f7ca9688 78 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 79 }
garyservin 0:fd24f7ca9688 80 inbuffer[offset+length_st_name-1]=0;
garyservin 0:fd24f7ca9688 81 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 82 offset += length_st_name;
garyservin 0:fd24f7ca9688 83 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:fd24f7ca9688 84 }
garyservin 0:fd24f7ca9688 85 uint8_t pose_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 86 if(pose_lengthT > pose_length)
garyservin 0:fd24f7ca9688 87 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
garyservin 0:fd24f7ca9688 88 offset += 3;
garyservin 0:fd24f7ca9688 89 pose_length = pose_lengthT;
garyservin 0:fd24f7ca9688 90 for( uint8_t i = 0; i < pose_length; i++){
garyservin 0:fd24f7ca9688 91 offset += this->st_pose.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 92 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
garyservin 0:fd24f7ca9688 93 }
garyservin 0:fd24f7ca9688 94 uint8_t twist_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 95 if(twist_lengthT > twist_length)
garyservin 0:fd24f7ca9688 96 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
garyservin 0:fd24f7ca9688 97 offset += 3;
garyservin 0:fd24f7ca9688 98 twist_length = twist_lengthT;
garyservin 0:fd24f7ca9688 99 for( uint8_t i = 0; i < twist_length; i++){
garyservin 0:fd24f7ca9688 100 offset += this->st_twist.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 101 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
garyservin 0:fd24f7ca9688 102 }
garyservin 0:fd24f7ca9688 103 return offset;
garyservin 0:fd24f7ca9688 104 }
garyservin 0:fd24f7ca9688 105
garyservin 0:fd24f7ca9688 106 const char * getType(){ return "gazebo_msgs/LinkStates"; };
garyservin 0:fd24f7ca9688 107 const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
garyservin 0:fd24f7ca9688 108
garyservin 0:fd24f7ca9688 109 };
garyservin 0:fd24f7ca9688 110
garyservin 0:fd24f7ca9688 111 }
garyservin 0:fd24f7ca9688 112 #endif