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/SetJointProperties.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_SERVICE_SetJointProperties_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_SetJointProperties_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 #include "gazebo_msgs/ODEJointProperties.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace gazebo_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 static const char SETJOINTPROPERTIES[] = "gazebo_msgs/SetJointProperties";
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class SetJointPropertiesRequest : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 const char* joint_name;
garyservin 0:fd24f7ca9688 18 gazebo_msgs::ODEJointProperties ode_joint_config;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 SetJointPropertiesRequest():
garyservin 0:fd24f7ca9688 21 joint_name(""),
garyservin 0:fd24f7ca9688 22 ode_joint_config()
garyservin 0:fd24f7ca9688 23 {
garyservin 0:fd24f7ca9688 24 }
garyservin 0:fd24f7ca9688 25
garyservin 0:fd24f7ca9688 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 int offset = 0;
garyservin 0:fd24f7ca9688 29 uint32_t length_joint_name = strlen(this->joint_name);
garyservin 0:fd24f7ca9688 30 memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 31 offset += 4;
garyservin 0:fd24f7ca9688 32 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
garyservin 0:fd24f7ca9688 33 offset += length_joint_name;
garyservin 0:fd24f7ca9688 34 offset += this->ode_joint_config.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 35 return offset;
garyservin 0:fd24f7ca9688 36 }
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 int offset = 0;
garyservin 0:fd24f7ca9688 41 uint32_t length_joint_name;
garyservin 0:fd24f7ca9688 42 memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 43 offset += 4;
garyservin 0:fd24f7ca9688 44 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
garyservin 0:fd24f7ca9688 45 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 46 }
garyservin 0:fd24f7ca9688 47 inbuffer[offset+length_joint_name-1]=0;
garyservin 0:fd24f7ca9688 48 this->joint_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 49 offset += length_joint_name;
garyservin 0:fd24f7ca9688 50 offset += this->ode_joint_config.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 51 return offset;
garyservin 0:fd24f7ca9688 52 }
garyservin 0:fd24f7ca9688 53
garyservin 0:fd24f7ca9688 54 const char * getType(){ return SETJOINTPROPERTIES; };
garyservin 0:fd24f7ca9688 55 const char * getMD5(){ return "331fd8f35fd27e3c1421175590258e26"; };
garyservin 0:fd24f7ca9688 56
garyservin 0:fd24f7ca9688 57 };
garyservin 0:fd24f7ca9688 58
garyservin 0:fd24f7ca9688 59 class SetJointPropertiesResponse : public ros::Msg
garyservin 0:fd24f7ca9688 60 {
garyservin 0:fd24f7ca9688 61 public:
garyservin 0:fd24f7ca9688 62 bool success;
garyservin 0:fd24f7ca9688 63 const char* status_message;
garyservin 0:fd24f7ca9688 64
garyservin 0:fd24f7ca9688 65 SetJointPropertiesResponse():
garyservin 0:fd24f7ca9688 66 success(0),
garyservin 0:fd24f7ca9688 67 status_message("")
garyservin 0:fd24f7ca9688 68 {
garyservin 0:fd24f7ca9688 69 }
garyservin 0:fd24f7ca9688 70
garyservin 0:fd24f7ca9688 71 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 72 {
garyservin 0:fd24f7ca9688 73 int offset = 0;
garyservin 0:fd24f7ca9688 74 union {
garyservin 0:fd24f7ca9688 75 bool real;
garyservin 0:fd24f7ca9688 76 uint8_t base;
garyservin 0:fd24f7ca9688 77 } u_success;
garyservin 0:fd24f7ca9688 78 u_success.real = this->success;
garyservin 0:fd24f7ca9688 79 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 80 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 81 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:fd24f7ca9688 82 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 83 offset += 4;
garyservin 0:fd24f7ca9688 84 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:fd24f7ca9688 85 offset += length_status_message;
garyservin 0:fd24f7ca9688 86 return offset;
garyservin 0:fd24f7ca9688 87 }
garyservin 0:fd24f7ca9688 88
garyservin 0:fd24f7ca9688 89 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 90 {
garyservin 0:fd24f7ca9688 91 int offset = 0;
garyservin 0:fd24f7ca9688 92 union {
garyservin 0:fd24f7ca9688 93 bool real;
garyservin 0:fd24f7ca9688 94 uint8_t base;
garyservin 0:fd24f7ca9688 95 } u_success;
garyservin 0:fd24f7ca9688 96 u_success.base = 0;
garyservin 0:fd24f7ca9688 97 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 98 this->success = u_success.real;
garyservin 0:fd24f7ca9688 99 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 100 uint32_t length_status_message;
garyservin 0:fd24f7ca9688 101 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 102 offset += 4;
garyservin 0:fd24f7ca9688 103 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:fd24f7ca9688 104 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 105 }
garyservin 0:fd24f7ca9688 106 inbuffer[offset+length_status_message-1]=0;
garyservin 0:fd24f7ca9688 107 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 108 offset += length_status_message;
garyservin 0:fd24f7ca9688 109 return offset;
garyservin 0:fd24f7ca9688 110 }
garyservin 0:fd24f7ca9688 111
garyservin 0:fd24f7ca9688 112 const char * getType(){ return SETJOINTPROPERTIES; };
garyservin 0:fd24f7ca9688 113 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:fd24f7ca9688 114
garyservin 0:fd24f7ca9688 115 };
garyservin 0:fd24f7ca9688 116
garyservin 0:fd24f7ca9688 117 class SetJointProperties {
garyservin 0:fd24f7ca9688 118 public:
garyservin 0:fd24f7ca9688 119 typedef SetJointPropertiesRequest Request;
garyservin 0:fd24f7ca9688 120 typedef SetJointPropertiesResponse Response;
garyservin 0:fd24f7ca9688 121 };
garyservin 0:fd24f7ca9688 122
garyservin 0:fd24f7ca9688 123 }
garyservin 0:fd24f7ca9688 124 #endif