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/GetJointProperties.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_GetJointProperties_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_GetJointProperties_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
garyservin 0:fd24f7ca9688 8 namespace gazebo_msgs
garyservin 0:fd24f7ca9688 9 {
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class GetJointPropertiesRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 const char* joint_name;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 GetJointPropertiesRequest():
garyservin 0:fd24f7ca9688 19 joint_name("")
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 uint32_t length_joint_name = strlen(this->joint_name);
garyservin 0:fd24f7ca9688 27 memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 28 offset += 4;
garyservin 0:fd24f7ca9688 29 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
garyservin 0:fd24f7ca9688 30 offset += length_joint_name;
garyservin 0:fd24f7ca9688 31 return offset;
garyservin 0:fd24f7ca9688 32 }
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 35 {
garyservin 0:fd24f7ca9688 36 int offset = 0;
garyservin 0:fd24f7ca9688 37 uint32_t length_joint_name;
garyservin 0:fd24f7ca9688 38 memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 39 offset += 4;
garyservin 0:fd24f7ca9688 40 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
garyservin 0:fd24f7ca9688 41 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 42 }
garyservin 0:fd24f7ca9688 43 inbuffer[offset+length_joint_name-1]=0;
garyservin 0:fd24f7ca9688 44 this->joint_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 45 offset += length_joint_name;
garyservin 0:fd24f7ca9688 46 return offset;
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48
garyservin 0:fd24f7ca9688 49 const char * getType(){ return GETJOINTPROPERTIES; };
garyservin 0:fd24f7ca9688 50 const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
garyservin 0:fd24f7ca9688 51
garyservin 0:fd24f7ca9688 52 };
garyservin 0:fd24f7ca9688 53
garyservin 0:fd24f7ca9688 54 class GetJointPropertiesResponse : public ros::Msg
garyservin 0:fd24f7ca9688 55 {
garyservin 0:fd24f7ca9688 56 public:
garyservin 0:fd24f7ca9688 57 uint8_t type;
garyservin 0:fd24f7ca9688 58 uint8_t damping_length;
garyservin 0:fd24f7ca9688 59 double st_damping;
garyservin 0:fd24f7ca9688 60 double * damping;
garyservin 0:fd24f7ca9688 61 uint8_t position_length;
garyservin 0:fd24f7ca9688 62 double st_position;
garyservin 0:fd24f7ca9688 63 double * position;
garyservin 0:fd24f7ca9688 64 uint8_t rate_length;
garyservin 0:fd24f7ca9688 65 double st_rate;
garyservin 0:fd24f7ca9688 66 double * rate;
garyservin 0:fd24f7ca9688 67 bool success;
garyservin 0:fd24f7ca9688 68 const char* status_message;
garyservin 0:fd24f7ca9688 69 enum { REVOLUTE = 0 };
garyservin 0:fd24f7ca9688 70 enum { CONTINUOUS = 1 };
garyservin 0:fd24f7ca9688 71 enum { PRISMATIC = 2 };
garyservin 0:fd24f7ca9688 72 enum { FIXED = 3 };
garyservin 0:fd24f7ca9688 73 enum { BALL = 4 };
garyservin 0:fd24f7ca9688 74 enum { UNIVERSAL = 5 };
garyservin 0:fd24f7ca9688 75
garyservin 0:fd24f7ca9688 76 GetJointPropertiesResponse():
garyservin 0:fd24f7ca9688 77 type(0),
garyservin 0:fd24f7ca9688 78 damping_length(0), damping(NULL),
garyservin 0:fd24f7ca9688 79 position_length(0), position(NULL),
garyservin 0:fd24f7ca9688 80 rate_length(0), rate(NULL),
garyservin 0:fd24f7ca9688 81 success(0),
garyservin 0:fd24f7ca9688 82 status_message("")
garyservin 0:fd24f7ca9688 83 {
garyservin 0:fd24f7ca9688 84 }
garyservin 0:fd24f7ca9688 85
garyservin 0:fd24f7ca9688 86 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 87 {
garyservin 0:fd24f7ca9688 88 int offset = 0;
garyservin 0:fd24f7ca9688 89 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 90 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 91 *(outbuffer + offset++) = damping_length;
garyservin 0:fd24f7ca9688 92 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 93 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 94 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 95 for( uint8_t i = 0; i < damping_length; i++){
garyservin 0:fd24f7ca9688 96 union {
garyservin 0:fd24f7ca9688 97 double real;
garyservin 0:fd24f7ca9688 98 uint64_t base;
garyservin 0:fd24f7ca9688 99 } u_dampingi;
garyservin 0:fd24f7ca9688 100 u_dampingi.real = this->damping[i];
garyservin 0:fd24f7ca9688 101 *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 102 *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 103 *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 104 *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 105 *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 106 *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 107 *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 108 *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 109 offset += sizeof(this->damping[i]);
garyservin 0:fd24f7ca9688 110 }
garyservin 0:fd24f7ca9688 111 *(outbuffer + offset++) = position_length;
garyservin 0:fd24f7ca9688 112 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 113 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 114 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 115 for( uint8_t i = 0; i < position_length; i++){
garyservin 0:fd24f7ca9688 116 union {
garyservin 0:fd24f7ca9688 117 double real;
garyservin 0:fd24f7ca9688 118 uint64_t base;
garyservin 0:fd24f7ca9688 119 } u_positioni;
garyservin 0:fd24f7ca9688 120 u_positioni.real = this->position[i];
garyservin 0:fd24f7ca9688 121 *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 122 *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 123 *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 124 *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 125 *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 126 *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 127 *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 128 *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 129 offset += sizeof(this->position[i]);
garyservin 0:fd24f7ca9688 130 }
garyservin 0:fd24f7ca9688 131 *(outbuffer + offset++) = rate_length;
garyservin 0:fd24f7ca9688 132 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 133 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 134 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 135 for( uint8_t i = 0; i < rate_length; i++){
garyservin 0:fd24f7ca9688 136 union {
garyservin 0:fd24f7ca9688 137 double real;
garyservin 0:fd24f7ca9688 138 uint64_t base;
garyservin 0:fd24f7ca9688 139 } u_ratei;
garyservin 0:fd24f7ca9688 140 u_ratei.real = this->rate[i];
garyservin 0:fd24f7ca9688 141 *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 142 *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 143 *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 144 *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 145 *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 146 *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 147 *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 148 *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 149 offset += sizeof(this->rate[i]);
garyservin 0:fd24f7ca9688 150 }
garyservin 0:fd24f7ca9688 151 union {
garyservin 0:fd24f7ca9688 152 bool real;
garyservin 0:fd24f7ca9688 153 uint8_t base;
garyservin 0:fd24f7ca9688 154 } u_success;
garyservin 0:fd24f7ca9688 155 u_success.real = this->success;
garyservin 0:fd24f7ca9688 156 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 157 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 158 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:fd24f7ca9688 159 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 160 offset += 4;
garyservin 0:fd24f7ca9688 161 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:fd24f7ca9688 162 offset += length_status_message;
garyservin 0:fd24f7ca9688 163 return offset;
garyservin 0:fd24f7ca9688 164 }
garyservin 0:fd24f7ca9688 165
garyservin 0:fd24f7ca9688 166 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 167 {
garyservin 0:fd24f7ca9688 168 int offset = 0;
garyservin 0:fd24f7ca9688 169 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 170 offset += sizeof(this->type);
garyservin 0:fd24f7ca9688 171 uint8_t damping_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 172 if(damping_lengthT > damping_length)
garyservin 0:fd24f7ca9688 173 this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 174 offset += 3;
garyservin 0:fd24f7ca9688 175 damping_length = damping_lengthT;
garyservin 0:fd24f7ca9688 176 for( uint8_t i = 0; i < damping_length; i++){
garyservin 0:fd24f7ca9688 177 union {
garyservin 0:fd24f7ca9688 178 double real;
garyservin 0:fd24f7ca9688 179 uint64_t base;
garyservin 0:fd24f7ca9688 180 } u_st_damping;
garyservin 0:fd24f7ca9688 181 u_st_damping.base = 0;
garyservin 0:fd24f7ca9688 182 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 183 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 184 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 185 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 186 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 187 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 188 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 189 u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 190 this->st_damping = u_st_damping.real;
garyservin 0:fd24f7ca9688 191 offset += sizeof(this->st_damping);
garyservin 0:fd24f7ca9688 192 memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double));
garyservin 0:fd24f7ca9688 193 }
garyservin 0:fd24f7ca9688 194 uint8_t position_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 195 if(position_lengthT > position_length)
garyservin 0:fd24f7ca9688 196 this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 197 offset += 3;
garyservin 0:fd24f7ca9688 198 position_length = position_lengthT;
garyservin 0:fd24f7ca9688 199 for( uint8_t i = 0; i < position_length; i++){
garyservin 0:fd24f7ca9688 200 union {
garyservin 0:fd24f7ca9688 201 double real;
garyservin 0:fd24f7ca9688 202 uint64_t base;
garyservin 0:fd24f7ca9688 203 } u_st_position;
garyservin 0:fd24f7ca9688 204 u_st_position.base = 0;
garyservin 0:fd24f7ca9688 205 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 206 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 207 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 208 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 209 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 210 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 211 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 212 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 213 this->st_position = u_st_position.real;
garyservin 0:fd24f7ca9688 214 offset += sizeof(this->st_position);
garyservin 0:fd24f7ca9688 215 memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
garyservin 0:fd24f7ca9688 216 }
garyservin 0:fd24f7ca9688 217 uint8_t rate_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 218 if(rate_lengthT > rate_length)
garyservin 0:fd24f7ca9688 219 this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 220 offset += 3;
garyservin 0:fd24f7ca9688 221 rate_length = rate_lengthT;
garyservin 0:fd24f7ca9688 222 for( uint8_t i = 0; i < rate_length; i++){
garyservin 0:fd24f7ca9688 223 union {
garyservin 0:fd24f7ca9688 224 double real;
garyservin 0:fd24f7ca9688 225 uint64_t base;
garyservin 0:fd24f7ca9688 226 } u_st_rate;
garyservin 0:fd24f7ca9688 227 u_st_rate.base = 0;
garyservin 0:fd24f7ca9688 228 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 229 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 230 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 231 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 232 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 233 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 234 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 235 u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 236 this->st_rate = u_st_rate.real;
garyservin 0:fd24f7ca9688 237 offset += sizeof(this->st_rate);
garyservin 0:fd24f7ca9688 238 memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double));
garyservin 0:fd24f7ca9688 239 }
garyservin 0:fd24f7ca9688 240 union {
garyservin 0:fd24f7ca9688 241 bool real;
garyservin 0:fd24f7ca9688 242 uint8_t base;
garyservin 0:fd24f7ca9688 243 } u_success;
garyservin 0:fd24f7ca9688 244 u_success.base = 0;
garyservin 0:fd24f7ca9688 245 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 246 this->success = u_success.real;
garyservin 0:fd24f7ca9688 247 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 248 uint32_t length_status_message;
garyservin 0:fd24f7ca9688 249 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 250 offset += 4;
garyservin 0:fd24f7ca9688 251 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:fd24f7ca9688 252 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 253 }
garyservin 0:fd24f7ca9688 254 inbuffer[offset+length_status_message-1]=0;
garyservin 0:fd24f7ca9688 255 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 256 offset += length_status_message;
garyservin 0:fd24f7ca9688 257 return offset;
garyservin 0:fd24f7ca9688 258 }
garyservin 0:fd24f7ca9688 259
garyservin 0:fd24f7ca9688 260 const char * getType(){ return GETJOINTPROPERTIES; };
garyservin 0:fd24f7ca9688 261 const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; };
garyservin 0:fd24f7ca9688 262
garyservin 0:fd24f7ca9688 263 };
garyservin 0:fd24f7ca9688 264
garyservin 0:fd24f7ca9688 265 class GetJointProperties {
garyservin 0:fd24f7ca9688 266 public:
garyservin 0:fd24f7ca9688 267 typedef GetJointPropertiesRequest Request;
garyservin 0:fd24f7ca9688 268 typedef GetJointPropertiesResponse Response;
garyservin 0:fd24f7ca9688 269 };
garyservin 0:fd24f7ca9688 270
garyservin 0:fd24f7ca9688 271 }
garyservin 0:fd24f7ca9688 272 #endif