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/SetPhysicsProperties.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_SetPhysicsProperties_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_SetPhysicsProperties_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 "geometry_msgs/Vector3.h"
garyservin 0:fd24f7ca9688 8 #include "gazebo_msgs/ODEPhysics.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace gazebo_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 static const char SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
garyservin 0:fd24f7ca9688 14
garyservin 0:fd24f7ca9688 15 class SetPhysicsPropertiesRequest : public ros::Msg
garyservin 0:fd24f7ca9688 16 {
garyservin 0:fd24f7ca9688 17 public:
garyservin 0:fd24f7ca9688 18 double time_step;
garyservin 0:fd24f7ca9688 19 double max_update_rate;
garyservin 0:fd24f7ca9688 20 geometry_msgs::Vector3 gravity;
garyservin 0:fd24f7ca9688 21 gazebo_msgs::ODEPhysics ode_config;
garyservin 0:fd24f7ca9688 22
garyservin 0:fd24f7ca9688 23 SetPhysicsPropertiesRequest():
garyservin 0:fd24f7ca9688 24 time_step(0),
garyservin 0:fd24f7ca9688 25 max_update_rate(0),
garyservin 0:fd24f7ca9688 26 gravity(),
garyservin 0:fd24f7ca9688 27 ode_config()
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 }
garyservin 0:fd24f7ca9688 30
garyservin 0:fd24f7ca9688 31 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 32 {
garyservin 0:fd24f7ca9688 33 int offset = 0;
garyservin 0:fd24f7ca9688 34 union {
garyservin 0:fd24f7ca9688 35 double real;
garyservin 0:fd24f7ca9688 36 uint64_t base;
garyservin 0:fd24f7ca9688 37 } u_time_step;
garyservin 0:fd24f7ca9688 38 u_time_step.real = this->time_step;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 47 offset += sizeof(this->time_step);
garyservin 0:fd24f7ca9688 48 union {
garyservin 0:fd24f7ca9688 49 double real;
garyservin 0:fd24f7ca9688 50 uint64_t base;
garyservin 0:fd24f7ca9688 51 } u_max_update_rate;
garyservin 0:fd24f7ca9688 52 u_max_update_rate.real = this->max_update_rate;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 61 offset += sizeof(this->max_update_rate);
garyservin 0:fd24f7ca9688 62 offset += this->gravity.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 63 offset += this->ode_config.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 64 return offset;
garyservin 0:fd24f7ca9688 65 }
garyservin 0:fd24f7ca9688 66
garyservin 0:fd24f7ca9688 67 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 68 {
garyservin 0:fd24f7ca9688 69 int offset = 0;
garyservin 0:fd24f7ca9688 70 union {
garyservin 0:fd24f7ca9688 71 double real;
garyservin 0:fd24f7ca9688 72 uint64_t base;
garyservin 0:fd24f7ca9688 73 } u_time_step;
garyservin 0:fd24f7ca9688 74 u_time_step.base = 0;
garyservin 0:fd24f7ca9688 75 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 76 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 77 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 78 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 79 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 80 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 81 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 82 u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 83 this->time_step = u_time_step.real;
garyservin 0:fd24f7ca9688 84 offset += sizeof(this->time_step);
garyservin 0:fd24f7ca9688 85 union {
garyservin 0:fd24f7ca9688 86 double real;
garyservin 0:fd24f7ca9688 87 uint64_t base;
garyservin 0:fd24f7ca9688 88 } u_max_update_rate;
garyservin 0:fd24f7ca9688 89 u_max_update_rate.base = 0;
garyservin 0:fd24f7ca9688 90 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 91 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 92 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 93 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 94 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 95 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 96 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 97 u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 98 this->max_update_rate = u_max_update_rate.real;
garyservin 0:fd24f7ca9688 99 offset += sizeof(this->max_update_rate);
garyservin 0:fd24f7ca9688 100 offset += this->gravity.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 101 offset += this->ode_config.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 102 return offset;
garyservin 0:fd24f7ca9688 103 }
garyservin 0:fd24f7ca9688 104
garyservin 0:fd24f7ca9688 105 const char * getType(){ return SETPHYSICSPROPERTIES; };
garyservin 0:fd24f7ca9688 106 const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
garyservin 0:fd24f7ca9688 107
garyservin 0:fd24f7ca9688 108 };
garyservin 0:fd24f7ca9688 109
garyservin 0:fd24f7ca9688 110 class SetPhysicsPropertiesResponse : public ros::Msg
garyservin 0:fd24f7ca9688 111 {
garyservin 0:fd24f7ca9688 112 public:
garyservin 0:fd24f7ca9688 113 bool success;
garyservin 0:fd24f7ca9688 114 const char* status_message;
garyservin 0:fd24f7ca9688 115
garyservin 0:fd24f7ca9688 116 SetPhysicsPropertiesResponse():
garyservin 0:fd24f7ca9688 117 success(0),
garyservin 0:fd24f7ca9688 118 status_message("")
garyservin 0:fd24f7ca9688 119 {
garyservin 0:fd24f7ca9688 120 }
garyservin 0:fd24f7ca9688 121
garyservin 0:fd24f7ca9688 122 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 123 {
garyservin 0:fd24f7ca9688 124 int offset = 0;
garyservin 0:fd24f7ca9688 125 union {
garyservin 0:fd24f7ca9688 126 bool real;
garyservin 0:fd24f7ca9688 127 uint8_t base;
garyservin 0:fd24f7ca9688 128 } u_success;
garyservin 0:fd24f7ca9688 129 u_success.real = this->success;
garyservin 0:fd24f7ca9688 130 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 131 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 132 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:fd24f7ca9688 133 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 134 offset += 4;
garyservin 0:fd24f7ca9688 135 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:fd24f7ca9688 136 offset += length_status_message;
garyservin 0:fd24f7ca9688 137 return offset;
garyservin 0:fd24f7ca9688 138 }
garyservin 0:fd24f7ca9688 139
garyservin 0:fd24f7ca9688 140 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 141 {
garyservin 0:fd24f7ca9688 142 int offset = 0;
garyservin 0:fd24f7ca9688 143 union {
garyservin 0:fd24f7ca9688 144 bool real;
garyservin 0:fd24f7ca9688 145 uint8_t base;
garyservin 0:fd24f7ca9688 146 } u_success;
garyservin 0:fd24f7ca9688 147 u_success.base = 0;
garyservin 0:fd24f7ca9688 148 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 149 this->success = u_success.real;
garyservin 0:fd24f7ca9688 150 offset += sizeof(this->success);
garyservin 0:fd24f7ca9688 151 uint32_t length_status_message;
garyservin 0:fd24f7ca9688 152 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 153 offset += 4;
garyservin 0:fd24f7ca9688 154 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:fd24f7ca9688 155 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 156 }
garyservin 0:fd24f7ca9688 157 inbuffer[offset+length_status_message-1]=0;
garyservin 0:fd24f7ca9688 158 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 159 offset += length_status_message;
garyservin 0:fd24f7ca9688 160 return offset;
garyservin 0:fd24f7ca9688 161 }
garyservin 0:fd24f7ca9688 162
garyservin 0:fd24f7ca9688 163 const char * getType(){ return SETPHYSICSPROPERTIES; };
garyservin 0:fd24f7ca9688 164 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:fd24f7ca9688 165
garyservin 0:fd24f7ca9688 166 };
garyservin 0:fd24f7ca9688 167
garyservin 0:fd24f7ca9688 168 class SetPhysicsProperties {
garyservin 0:fd24f7ca9688 169 public:
garyservin 0:fd24f7ca9688 170 typedef SetPhysicsPropertiesRequest Request;
garyservin 0:fd24f7ca9688 171 typedef SetPhysicsPropertiesResponse Response;
garyservin 0:fd24f7ca9688 172 };
garyservin 0:fd24f7ca9688 173
garyservin 0:fd24f7ca9688 174 }
garyservin 0:fd24f7ca9688 175 #endif