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/ContactState.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_ContactState_h
garyservin 0:fd24f7ca9688 2 #define _ROS_gazebo_msgs_ContactState_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/Wrench.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/Vector3.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 ContactState : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 const char* info;
garyservin 0:fd24f7ca9688 18 const char* collision1_name;
garyservin 0:fd24f7ca9688 19 const char* collision2_name;
garyservin 0:fd24f7ca9688 20 uint8_t wrenches_length;
garyservin 0:fd24f7ca9688 21 geometry_msgs::Wrench st_wrenches;
garyservin 0:fd24f7ca9688 22 geometry_msgs::Wrench * wrenches;
garyservin 0:fd24f7ca9688 23 geometry_msgs::Wrench total_wrench;
garyservin 0:fd24f7ca9688 24 uint8_t contact_positions_length;
garyservin 0:fd24f7ca9688 25 geometry_msgs::Vector3 st_contact_positions;
garyservin 0:fd24f7ca9688 26 geometry_msgs::Vector3 * contact_positions;
garyservin 0:fd24f7ca9688 27 uint8_t contact_normals_length;
garyservin 0:fd24f7ca9688 28 geometry_msgs::Vector3 st_contact_normals;
garyservin 0:fd24f7ca9688 29 geometry_msgs::Vector3 * contact_normals;
garyservin 0:fd24f7ca9688 30 uint8_t depths_length;
garyservin 0:fd24f7ca9688 31 double st_depths;
garyservin 0:fd24f7ca9688 32 double * depths;
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 ContactState():
garyservin 0:fd24f7ca9688 35 info(""),
garyservin 0:fd24f7ca9688 36 collision1_name(""),
garyservin 0:fd24f7ca9688 37 collision2_name(""),
garyservin 0:fd24f7ca9688 38 wrenches_length(0), wrenches(NULL),
garyservin 0:fd24f7ca9688 39 total_wrench(),
garyservin 0:fd24f7ca9688 40 contact_positions_length(0), contact_positions(NULL),
garyservin 0:fd24f7ca9688 41 contact_normals_length(0), contact_normals(NULL),
garyservin 0:fd24f7ca9688 42 depths_length(0), depths(NULL)
garyservin 0:fd24f7ca9688 43 {
garyservin 0:fd24f7ca9688 44 }
garyservin 0:fd24f7ca9688 45
garyservin 0:fd24f7ca9688 46 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 47 {
garyservin 0:fd24f7ca9688 48 int offset = 0;
garyservin 0:fd24f7ca9688 49 uint32_t length_info = strlen(this->info);
garyservin 0:fd24f7ca9688 50 memcpy(outbuffer + offset, &length_info, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 51 offset += 4;
garyservin 0:fd24f7ca9688 52 memcpy(outbuffer + offset, this->info, length_info);
garyservin 0:fd24f7ca9688 53 offset += length_info;
garyservin 0:fd24f7ca9688 54 uint32_t length_collision1_name = strlen(this->collision1_name);
garyservin 0:fd24f7ca9688 55 memcpy(outbuffer + offset, &length_collision1_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 56 offset += 4;
garyservin 0:fd24f7ca9688 57 memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
garyservin 0:fd24f7ca9688 58 offset += length_collision1_name;
garyservin 0:fd24f7ca9688 59 uint32_t length_collision2_name = strlen(this->collision2_name);
garyservin 0:fd24f7ca9688 60 memcpy(outbuffer + offset, &length_collision2_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 61 offset += 4;
garyservin 0:fd24f7ca9688 62 memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
garyservin 0:fd24f7ca9688 63 offset += length_collision2_name;
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset++) = wrenches_length;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 68 for( uint8_t i = 0; i < wrenches_length; i++){
garyservin 0:fd24f7ca9688 69 offset += this->wrenches[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 70 }
garyservin 0:fd24f7ca9688 71 offset += this->total_wrench.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset++) = contact_positions_length;
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 75 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 76 for( uint8_t i = 0; i < contact_positions_length; i++){
garyservin 0:fd24f7ca9688 77 offset += this->contact_positions[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 78 }
garyservin 0:fd24f7ca9688 79 *(outbuffer + offset++) = contact_normals_length;
garyservin 0:fd24f7ca9688 80 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 81 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 82 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 83 for( uint8_t i = 0; i < contact_normals_length; i++){
garyservin 0:fd24f7ca9688 84 offset += this->contact_normals[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 85 }
garyservin 0:fd24f7ca9688 86 *(outbuffer + offset++) = depths_length;
garyservin 0:fd24f7ca9688 87 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 88 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 89 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 90 for( uint8_t i = 0; i < depths_length; i++){
garyservin 0:fd24f7ca9688 91 union {
garyservin 0:fd24f7ca9688 92 double real;
garyservin 0:fd24f7ca9688 93 uint64_t base;
garyservin 0:fd24f7ca9688 94 } u_depthsi;
garyservin 0:fd24f7ca9688 95 u_depthsi.real = this->depths[i];
garyservin 0:fd24f7ca9688 96 *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 97 *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 98 *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 99 *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 100 *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 101 *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 102 *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 103 *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 104 offset += sizeof(this->depths[i]);
garyservin 0:fd24f7ca9688 105 }
garyservin 0:fd24f7ca9688 106 return offset;
garyservin 0:fd24f7ca9688 107 }
garyservin 0:fd24f7ca9688 108
garyservin 0:fd24f7ca9688 109 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 110 {
garyservin 0:fd24f7ca9688 111 int offset = 0;
garyservin 0:fd24f7ca9688 112 uint32_t length_info;
garyservin 0:fd24f7ca9688 113 memcpy(&length_info, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 114 offset += 4;
garyservin 0:fd24f7ca9688 115 for(unsigned int k= offset; k< offset+length_info; ++k){
garyservin 0:fd24f7ca9688 116 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 117 }
garyservin 0:fd24f7ca9688 118 inbuffer[offset+length_info-1]=0;
garyservin 0:fd24f7ca9688 119 this->info = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 120 offset += length_info;
garyservin 0:fd24f7ca9688 121 uint32_t length_collision1_name;
garyservin 0:fd24f7ca9688 122 memcpy(&length_collision1_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 123 offset += 4;
garyservin 0:fd24f7ca9688 124 for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
garyservin 0:fd24f7ca9688 125 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 126 }
garyservin 0:fd24f7ca9688 127 inbuffer[offset+length_collision1_name-1]=0;
garyservin 0:fd24f7ca9688 128 this->collision1_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 129 offset += length_collision1_name;
garyservin 0:fd24f7ca9688 130 uint32_t length_collision2_name;
garyservin 0:fd24f7ca9688 131 memcpy(&length_collision2_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 132 offset += 4;
garyservin 0:fd24f7ca9688 133 for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
garyservin 0:fd24f7ca9688 134 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 135 }
garyservin 0:fd24f7ca9688 136 inbuffer[offset+length_collision2_name-1]=0;
garyservin 0:fd24f7ca9688 137 this->collision2_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 138 offset += length_collision2_name;
garyservin 0:fd24f7ca9688 139 uint8_t wrenches_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 140 if(wrenches_lengthT > wrenches_length)
garyservin 0:fd24f7ca9688 141 this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
garyservin 0:fd24f7ca9688 142 offset += 3;
garyservin 0:fd24f7ca9688 143 wrenches_length = wrenches_lengthT;
garyservin 0:fd24f7ca9688 144 for( uint8_t i = 0; i < wrenches_length; i++){
garyservin 0:fd24f7ca9688 145 offset += this->st_wrenches.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 146 memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
garyservin 0:fd24f7ca9688 147 }
garyservin 0:fd24f7ca9688 148 offset += this->total_wrench.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 149 uint8_t contact_positions_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 150 if(contact_positions_lengthT > contact_positions_length)
garyservin 0:fd24f7ca9688 151 this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
garyservin 0:fd24f7ca9688 152 offset += 3;
garyservin 0:fd24f7ca9688 153 contact_positions_length = contact_positions_lengthT;
garyservin 0:fd24f7ca9688 154 for( uint8_t i = 0; i < contact_positions_length; i++){
garyservin 0:fd24f7ca9688 155 offset += this->st_contact_positions.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 156 memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
garyservin 0:fd24f7ca9688 157 }
garyservin 0:fd24f7ca9688 158 uint8_t contact_normals_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 159 if(contact_normals_lengthT > contact_normals_length)
garyservin 0:fd24f7ca9688 160 this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
garyservin 0:fd24f7ca9688 161 offset += 3;
garyservin 0:fd24f7ca9688 162 contact_normals_length = contact_normals_lengthT;
garyservin 0:fd24f7ca9688 163 for( uint8_t i = 0; i < contact_normals_length; i++){
garyservin 0:fd24f7ca9688 164 offset += this->st_contact_normals.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 165 memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
garyservin 0:fd24f7ca9688 166 }
garyservin 0:fd24f7ca9688 167 uint8_t depths_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 168 if(depths_lengthT > depths_length)
garyservin 0:fd24f7ca9688 169 this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 170 offset += 3;
garyservin 0:fd24f7ca9688 171 depths_length = depths_lengthT;
garyservin 0:fd24f7ca9688 172 for( uint8_t i = 0; i < depths_length; i++){
garyservin 0:fd24f7ca9688 173 union {
garyservin 0:fd24f7ca9688 174 double real;
garyservin 0:fd24f7ca9688 175 uint64_t base;
garyservin 0:fd24f7ca9688 176 } u_st_depths;
garyservin 0:fd24f7ca9688 177 u_st_depths.base = 0;
garyservin 0:fd24f7ca9688 178 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 179 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 180 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 181 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 182 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 183 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 184 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 185 u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 186 this->st_depths = u_st_depths.real;
garyservin 0:fd24f7ca9688 187 offset += sizeof(this->st_depths);
garyservin 0:fd24f7ca9688 188 memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double));
garyservin 0:fd24f7ca9688 189 }
garyservin 0:fd24f7ca9688 190 return offset;
garyservin 0:fd24f7ca9688 191 }
garyservin 0:fd24f7ca9688 192
garyservin 0:fd24f7ca9688 193 const char * getType(){ return "gazebo_msgs/ContactState"; };
garyservin 0:fd24f7ca9688 194 const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
garyservin 0:fd24f7ca9688 195
garyservin 0:fd24f7ca9688 196 };
garyservin 0:fd24f7ca9688 197
garyservin 0:fd24f7ca9688 198 }
garyservin 0:fd24f7ca9688 199 #endif