Diff: gazebo_msgs/ContactState.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ContactState.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,199 @@
+#ifndef _ROS_gazebo_msgs_ContactState_h
+#define _ROS_gazebo_msgs_ContactState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Wrench.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace gazebo_msgs
+{
+
+  class ContactState : public ros::Msg
+  {
+    public:
+      const char* info;
+      const char* collision1_name;
+      const char* collision2_name;
+      uint8_t wrenches_length;
+      geometry_msgs::Wrench st_wrenches;
+      geometry_msgs::Wrench * wrenches;
+      geometry_msgs::Wrench total_wrench;
+      uint8_t contact_positions_length;
+      geometry_msgs::Vector3 st_contact_positions;
+      geometry_msgs::Vector3 * contact_positions;
+      uint8_t contact_normals_length;
+      geometry_msgs::Vector3 st_contact_normals;
+      geometry_msgs::Vector3 * contact_normals;
+      uint8_t depths_length;
+      double st_depths;
+      double * depths;
+
+    ContactState():
+      info(""),
+      collision1_name(""),
+      collision2_name(""),
+      wrenches_length(0), wrenches(NULL),
+      total_wrench(),
+      contact_positions_length(0), contact_positions(NULL),
+      contact_normals_length(0), contact_normals(NULL),
+      depths_length(0), depths(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_info = strlen(this->info);
+      memcpy(outbuffer + offset, &length_info, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->info, length_info);
+      offset += length_info;
+      uint32_t length_collision1_name = strlen(this->collision1_name);
+      memcpy(outbuffer + offset, &length_collision1_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
+      offset += length_collision1_name;
+      uint32_t length_collision2_name = strlen(this->collision2_name);
+      memcpy(outbuffer + offset, &length_collision2_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
+      offset += length_collision2_name;
+      *(outbuffer + offset++) = wrenches_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < wrenches_length; i++){
+      offset += this->wrenches[i].serialize(outbuffer + offset);
+      }
+      offset += this->total_wrench.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = contact_positions_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < contact_positions_length; i++){
+      offset += this->contact_positions[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = contact_normals_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < contact_normals_length; i++){
+      offset += this->contact_normals[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = depths_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < depths_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_depthsi;
+      u_depthsi.real = this->depths[i];
+      *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->depths[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_info;
+      memcpy(&length_info, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_info; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_info-1]=0;
+      this->info = (char *)(inbuffer + offset-1);
+      offset += length_info;
+      uint32_t length_collision1_name;
+      memcpy(&length_collision1_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision1_name-1]=0;
+      this->collision1_name = (char *)(inbuffer + offset-1);
+      offset += length_collision1_name;
+      uint32_t length_collision2_name;
+      memcpy(&length_collision2_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision2_name-1]=0;
+      this->collision2_name = (char *)(inbuffer + offset-1);
+      offset += length_collision2_name;
+      uint8_t wrenches_lengthT = *(inbuffer + offset++);
+      if(wrenches_lengthT > wrenches_length)
+        this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
+      offset += 3;
+      wrenches_length = wrenches_lengthT;
+      for( uint8_t i = 0; i < wrenches_length; i++){
+      offset += this->st_wrenches.deserialize(inbuffer + offset);
+        memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
+      }
+      offset += this->total_wrench.deserialize(inbuffer + offset);
+      uint8_t contact_positions_lengthT = *(inbuffer + offset++);
+      if(contact_positions_lengthT > contact_positions_length)
+        this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
+      offset += 3;
+      contact_positions_length = contact_positions_lengthT;
+      for( uint8_t i = 0; i < contact_positions_length; i++){
+      offset += this->st_contact_positions.deserialize(inbuffer + offset);
+        memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
+      }
+      uint8_t contact_normals_lengthT = *(inbuffer + offset++);
+      if(contact_normals_lengthT > contact_normals_length)
+        this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
+      offset += 3;
+      contact_normals_length = contact_normals_lengthT;
+      for( uint8_t i = 0; i < contact_normals_length; i++){
+      offset += this->st_contact_normals.deserialize(inbuffer + offset);
+        memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
+      }
+      uint8_t depths_lengthT = *(inbuffer + offset++);
+      if(depths_lengthT > depths_length)
+        this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double));
+      offset += 3;
+      depths_length = depths_lengthT;
+      for( uint8_t i = 0; i < depths_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_depths;
+      u_st_depths.base = 0;
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_depths = u_st_depths.real;
+      offset += sizeof(this->st_depths);
+        memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ContactState"; };
+    const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
+
+  };
+
+}
+#endif
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