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/ODEPhysics.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_ODEPhysics_h
garyservin 0:fd24f7ca9688 2 #define _ROS_gazebo_msgs_ODEPhysics_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
garyservin 0:fd24f7ca9688 9 namespace gazebo_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class ODEPhysics : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 bool auto_disable_bodies;
garyservin 0:fd24f7ca9688 16 uint32_t sor_pgs_precon_iters;
garyservin 0:fd24f7ca9688 17 uint32_t sor_pgs_iters;
garyservin 0:fd24f7ca9688 18 double sor_pgs_w;
garyservin 0:fd24f7ca9688 19 double sor_pgs_rms_error_tol;
garyservin 0:fd24f7ca9688 20 double contact_surface_layer;
garyservin 0:fd24f7ca9688 21 double contact_max_correcting_vel;
garyservin 0:fd24f7ca9688 22 double cfm;
garyservin 0:fd24f7ca9688 23 double erp;
garyservin 0:fd24f7ca9688 24 uint32_t max_contacts;
garyservin 0:fd24f7ca9688 25
garyservin 0:fd24f7ca9688 26 ODEPhysics():
garyservin 0:fd24f7ca9688 27 auto_disable_bodies(0),
garyservin 0:fd24f7ca9688 28 sor_pgs_precon_iters(0),
garyservin 0:fd24f7ca9688 29 sor_pgs_iters(0),
garyservin 0:fd24f7ca9688 30 sor_pgs_w(0),
garyservin 0:fd24f7ca9688 31 sor_pgs_rms_error_tol(0),
garyservin 0:fd24f7ca9688 32 contact_surface_layer(0),
garyservin 0:fd24f7ca9688 33 contact_max_correcting_vel(0),
garyservin 0:fd24f7ca9688 34 cfm(0),
garyservin 0:fd24f7ca9688 35 erp(0),
garyservin 0:fd24f7ca9688 36 max_contacts(0)
garyservin 0:fd24f7ca9688 37 {
garyservin 0:fd24f7ca9688 38 }
garyservin 0:fd24f7ca9688 39
garyservin 0:fd24f7ca9688 40 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 41 {
garyservin 0:fd24f7ca9688 42 int offset = 0;
garyservin 0:fd24f7ca9688 43 union {
garyservin 0:fd24f7ca9688 44 bool real;
garyservin 0:fd24f7ca9688 45 uint8_t base;
garyservin 0:fd24f7ca9688 46 } u_auto_disable_bodies;
garyservin 0:fd24f7ca9688 47 u_auto_disable_bodies.real = this->auto_disable_bodies;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 49 offset += sizeof(this->auto_disable_bodies);
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 54 offset += sizeof(this->sor_pgs_precon_iters);
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 59 offset += sizeof(this->sor_pgs_iters);
garyservin 0:fd24f7ca9688 60 union {
garyservin 0:fd24f7ca9688 61 double real;
garyservin 0:fd24f7ca9688 62 uint64_t base;
garyservin 0:fd24f7ca9688 63 } u_sor_pgs_w;
garyservin 0:fd24f7ca9688 64 u_sor_pgs_w.real = this->sor_pgs_w;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 73 offset += sizeof(this->sor_pgs_w);
garyservin 0:fd24f7ca9688 74 union {
garyservin 0:fd24f7ca9688 75 double real;
garyservin 0:fd24f7ca9688 76 uint64_t base;
garyservin 0:fd24f7ca9688 77 } u_sor_pgs_rms_error_tol;
garyservin 0:fd24f7ca9688 78 u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol;
garyservin 0:fd24f7ca9688 79 *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 80 *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 81 *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 82 *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 83 *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 84 *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 85 *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 86 *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 87 offset += sizeof(this->sor_pgs_rms_error_tol);
garyservin 0:fd24f7ca9688 88 union {
garyservin 0:fd24f7ca9688 89 double real;
garyservin 0:fd24f7ca9688 90 uint64_t base;
garyservin 0:fd24f7ca9688 91 } u_contact_surface_layer;
garyservin 0:fd24f7ca9688 92 u_contact_surface_layer.real = this->contact_surface_layer;
garyservin 0:fd24f7ca9688 93 *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 94 *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 95 *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 96 *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 97 *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 98 *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 99 *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 100 *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 101 offset += sizeof(this->contact_surface_layer);
garyservin 0:fd24f7ca9688 102 union {
garyservin 0:fd24f7ca9688 103 double real;
garyservin 0:fd24f7ca9688 104 uint64_t base;
garyservin 0:fd24f7ca9688 105 } u_contact_max_correcting_vel;
garyservin 0:fd24f7ca9688 106 u_contact_max_correcting_vel.real = this->contact_max_correcting_vel;
garyservin 0:fd24f7ca9688 107 *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 108 *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 109 *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 110 *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 111 *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 112 *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 113 *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 114 *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 115 offset += sizeof(this->contact_max_correcting_vel);
garyservin 0:fd24f7ca9688 116 union {
garyservin 0:fd24f7ca9688 117 double real;
garyservin 0:fd24f7ca9688 118 uint64_t base;
garyservin 0:fd24f7ca9688 119 } u_cfm;
garyservin 0:fd24f7ca9688 120 u_cfm.real = this->cfm;
garyservin 0:fd24f7ca9688 121 *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 122 *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 123 *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 124 *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 125 *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 126 *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 127 *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 128 *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 129 offset += sizeof(this->cfm);
garyservin 0:fd24f7ca9688 130 union {
garyservin 0:fd24f7ca9688 131 double real;
garyservin 0:fd24f7ca9688 132 uint64_t base;
garyservin 0:fd24f7ca9688 133 } u_erp;
garyservin 0:fd24f7ca9688 134 u_erp.real = this->erp;
garyservin 0:fd24f7ca9688 135 *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 136 *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 137 *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 138 *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 139 *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 140 *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 141 *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 142 *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 143 offset += sizeof(this->erp);
garyservin 0:fd24f7ca9688 144 *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 145 *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 146 *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 147 *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 148 offset += sizeof(this->max_contacts);
garyservin 0:fd24f7ca9688 149 return offset;
garyservin 0:fd24f7ca9688 150 }
garyservin 0:fd24f7ca9688 151
garyservin 0:fd24f7ca9688 152 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 153 {
garyservin 0:fd24f7ca9688 154 int offset = 0;
garyservin 0:fd24f7ca9688 155 union {
garyservin 0:fd24f7ca9688 156 bool real;
garyservin 0:fd24f7ca9688 157 uint8_t base;
garyservin 0:fd24f7ca9688 158 } u_auto_disable_bodies;
garyservin 0:fd24f7ca9688 159 u_auto_disable_bodies.base = 0;
garyservin 0:fd24f7ca9688 160 u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 161 this->auto_disable_bodies = u_auto_disable_bodies.real;
garyservin 0:fd24f7ca9688 162 offset += sizeof(this->auto_disable_bodies);
garyservin 0:fd24f7ca9688 163 this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 164 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 165 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 166 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 167 offset += sizeof(this->sor_pgs_precon_iters);
garyservin 0:fd24f7ca9688 168 this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 169 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 170 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 171 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 172 offset += sizeof(this->sor_pgs_iters);
garyservin 0:fd24f7ca9688 173 union {
garyservin 0:fd24f7ca9688 174 double real;
garyservin 0:fd24f7ca9688 175 uint64_t base;
garyservin 0:fd24f7ca9688 176 } u_sor_pgs_w;
garyservin 0:fd24f7ca9688 177 u_sor_pgs_w.base = 0;
garyservin 0:fd24f7ca9688 178 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 179 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 180 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 181 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 182 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 183 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 184 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 185 u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 186 this->sor_pgs_w = u_sor_pgs_w.real;
garyservin 0:fd24f7ca9688 187 offset += sizeof(this->sor_pgs_w);
garyservin 0:fd24f7ca9688 188 union {
garyservin 0:fd24f7ca9688 189 double real;
garyservin 0:fd24f7ca9688 190 uint64_t base;
garyservin 0:fd24f7ca9688 191 } u_sor_pgs_rms_error_tol;
garyservin 0:fd24f7ca9688 192 u_sor_pgs_rms_error_tol.base = 0;
garyservin 0:fd24f7ca9688 193 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 194 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 195 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 196 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 197 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 198 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 199 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 200 u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 201 this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real;
garyservin 0:fd24f7ca9688 202 offset += sizeof(this->sor_pgs_rms_error_tol);
garyservin 0:fd24f7ca9688 203 union {
garyservin 0:fd24f7ca9688 204 double real;
garyservin 0:fd24f7ca9688 205 uint64_t base;
garyservin 0:fd24f7ca9688 206 } u_contact_surface_layer;
garyservin 0:fd24f7ca9688 207 u_contact_surface_layer.base = 0;
garyservin 0:fd24f7ca9688 208 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 209 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 210 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 211 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 212 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 213 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 214 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 215 u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 216 this->contact_surface_layer = u_contact_surface_layer.real;
garyservin 0:fd24f7ca9688 217 offset += sizeof(this->contact_surface_layer);
garyservin 0:fd24f7ca9688 218 union {
garyservin 0:fd24f7ca9688 219 double real;
garyservin 0:fd24f7ca9688 220 uint64_t base;
garyservin 0:fd24f7ca9688 221 } u_contact_max_correcting_vel;
garyservin 0:fd24f7ca9688 222 u_contact_max_correcting_vel.base = 0;
garyservin 0:fd24f7ca9688 223 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 224 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 225 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 226 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 227 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 228 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 229 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 230 u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 231 this->contact_max_correcting_vel = u_contact_max_correcting_vel.real;
garyservin 0:fd24f7ca9688 232 offset += sizeof(this->contact_max_correcting_vel);
garyservin 0:fd24f7ca9688 233 union {
garyservin 0:fd24f7ca9688 234 double real;
garyservin 0:fd24f7ca9688 235 uint64_t base;
garyservin 0:fd24f7ca9688 236 } u_cfm;
garyservin 0:fd24f7ca9688 237 u_cfm.base = 0;
garyservin 0:fd24f7ca9688 238 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 239 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 240 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 241 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 242 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 243 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 244 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 245 u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 246 this->cfm = u_cfm.real;
garyservin 0:fd24f7ca9688 247 offset += sizeof(this->cfm);
garyservin 0:fd24f7ca9688 248 union {
garyservin 0:fd24f7ca9688 249 double real;
garyservin 0:fd24f7ca9688 250 uint64_t base;
garyservin 0:fd24f7ca9688 251 } u_erp;
garyservin 0:fd24f7ca9688 252 u_erp.base = 0;
garyservin 0:fd24f7ca9688 253 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 254 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 255 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 256 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 257 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 258 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 259 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 260 u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 261 this->erp = u_erp.real;
garyservin 0:fd24f7ca9688 262 offset += sizeof(this->erp);
garyservin 0:fd24f7ca9688 263 this->max_contacts = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 264 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 265 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 266 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 267 offset += sizeof(this->max_contacts);
garyservin 0:fd24f7ca9688 268 return offset;
garyservin 0:fd24f7ca9688 269 }
garyservin 0:fd24f7ca9688 270
garyservin 0:fd24f7ca9688 271 const char * getType(){ return "gazebo_msgs/ODEPhysics"; };
garyservin 0:fd24f7ca9688 272 const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; };
garyservin 0:fd24f7ca9688 273
garyservin 0:fd24f7ca9688 274 };
garyservin 0:fd24f7ca9688 275
garyservin 0:fd24f7ca9688 276 }
garyservin 0:fd24f7ca9688 277 #endif