Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
ApplyBodyWrench.h
00001 #ifndef _ROS_SERVICE_ApplyBodyWrench_h 00002 #define _ROS_SERVICE_ApplyBodyWrench_h 00003 #include <stdint.h> 00004 #include <string.h> 00005 #include <stdlib.h> 00006 #include "ros/msg.h" 00007 #include "ros/duration.h" 00008 #include "geometry_msgs/Wrench.h" 00009 #include "ros/time.h" 00010 #include "geometry_msgs/Point.h" 00011 00012 namespace gazebo_msgs 00013 { 00014 00015 static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench"; 00016 00017 class ApplyBodyWrenchRequest : public ros::Msg 00018 { 00019 public: 00020 typedef const char* _body_name_type; 00021 _body_name_type body_name; 00022 typedef const char* _reference_frame_type; 00023 _reference_frame_type reference_frame; 00024 typedef geometry_msgs::Point _reference_point_type; 00025 _reference_point_type reference_point; 00026 typedef geometry_msgs::Wrench _wrench_type; 00027 _wrench_type wrench; 00028 typedef ros::Time _start_time_type; 00029 _start_time_type start_time; 00030 typedef ros::Duration _duration_type; 00031 _duration_type duration; 00032 00033 ApplyBodyWrenchRequest(): 00034 body_name(""), 00035 reference_frame(""), 00036 reference_point(), 00037 wrench(), 00038 start_time(), 00039 duration() 00040 { 00041 } 00042 00043 virtual int serialize(unsigned char *outbuffer) const 00044 { 00045 int offset = 0; 00046 uint32_t length_body_name = strlen(this->body_name); 00047 varToArr(outbuffer + offset, length_body_name); 00048 offset += 4; 00049 memcpy(outbuffer + offset, this->body_name, length_body_name); 00050 offset += length_body_name; 00051 uint32_t length_reference_frame = strlen(this->reference_frame); 00052 varToArr(outbuffer + offset, length_reference_frame); 00053 offset += 4; 00054 memcpy(outbuffer + offset, this->reference_frame, length_reference_frame); 00055 offset += length_reference_frame; 00056 offset += this->reference_point.serialize(outbuffer + offset); 00057 offset += this->wrench.serialize(outbuffer + offset); 00058 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF; 00059 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF; 00060 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF; 00061 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF; 00062 offset += sizeof(this->start_time.sec); 00063 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF; 00064 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF; 00065 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF; 00066 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF; 00067 offset += sizeof(this->start_time.nsec); 00068 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF; 00069 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF; 00070 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF; 00071 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF; 00072 offset += sizeof(this->duration.sec); 00073 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF; 00074 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF; 00075 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF; 00076 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF; 00077 offset += sizeof(this->duration.nsec); 00078 return offset; 00079 } 00080 00081 virtual int deserialize(unsigned char *inbuffer) 00082 { 00083 int offset = 0; 00084 uint32_t length_body_name; 00085 arrToVar(length_body_name, (inbuffer + offset)); 00086 offset += 4; 00087 for(unsigned int k= offset; k< offset+length_body_name; ++k){ 00088 inbuffer[k-1]=inbuffer[k]; 00089 } 00090 inbuffer[offset+length_body_name-1]=0; 00091 this->body_name = (char *)(inbuffer + offset-1); 00092 offset += length_body_name; 00093 uint32_t length_reference_frame; 00094 arrToVar(length_reference_frame, (inbuffer + offset)); 00095 offset += 4; 00096 for(unsigned int k= offset; k< offset+length_reference_frame; ++k){ 00097 inbuffer[k-1]=inbuffer[k]; 00098 } 00099 inbuffer[offset+length_reference_frame-1]=0; 00100 this->reference_frame = (char *)(inbuffer + offset-1); 00101 offset += length_reference_frame; 00102 offset += this->reference_point.deserialize(inbuffer + offset); 00103 offset += this->wrench.deserialize(inbuffer + offset); 00104 this->start_time.sec = ((uint32_t) (*(inbuffer + offset))); 00105 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00106 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00107 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00108 offset += sizeof(this->start_time.sec); 00109 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset))); 00110 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00111 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00112 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00113 offset += sizeof(this->start_time.nsec); 00114 this->duration.sec = ((uint32_t) (*(inbuffer + offset))); 00115 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00116 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00117 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00118 offset += sizeof(this->duration.sec); 00119 this->duration.nsec = ((uint32_t) (*(inbuffer + offset))); 00120 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00121 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00122 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00123 offset += sizeof(this->duration.nsec); 00124 return offset; 00125 } 00126 00127 const char * getType(){ return APPLYBODYWRENCH; }; 00128 const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; }; 00129 00130 }; 00131 00132 class ApplyBodyWrenchResponse : public ros::Msg 00133 { 00134 public: 00135 typedef bool _success_type; 00136 _success_type success; 00137 typedef const char* _status_message_type; 00138 _status_message_type status_message; 00139 00140 ApplyBodyWrenchResponse(): 00141 success(0), 00142 status_message("") 00143 { 00144 } 00145 00146 virtual int serialize(unsigned char *outbuffer) const 00147 { 00148 int offset = 0; 00149 union { 00150 bool real; 00151 uint8_t base; 00152 } u_success; 00153 u_success.real = this->success; 00154 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; 00155 offset += sizeof(this->success); 00156 uint32_t length_status_message = strlen(this->status_message); 00157 varToArr(outbuffer + offset, length_status_message); 00158 offset += 4; 00159 memcpy(outbuffer + offset, this->status_message, length_status_message); 00160 offset += length_status_message; 00161 return offset; 00162 } 00163 00164 virtual int deserialize(unsigned char *inbuffer) 00165 { 00166 int offset = 0; 00167 union { 00168 bool real; 00169 uint8_t base; 00170 } u_success; 00171 u_success.base = 0; 00172 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); 00173 this->success = u_success.real; 00174 offset += sizeof(this->success); 00175 uint32_t length_status_message; 00176 arrToVar(length_status_message, (inbuffer + offset)); 00177 offset += 4; 00178 for(unsigned int k= offset; k< offset+length_status_message; ++k){ 00179 inbuffer[k-1]=inbuffer[k]; 00180 } 00181 inbuffer[offset+length_status_message-1]=0; 00182 this->status_message = (char *)(inbuffer + offset-1); 00183 offset += length_status_message; 00184 return offset; 00185 } 00186 00187 const char * getType(){ return APPLYBODYWRENCH; }; 00188 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; }; 00189 00190 }; 00191 00192 class ApplyBodyWrench { 00193 public: 00194 typedef ApplyBodyWrenchRequest Request; 00195 typedef ApplyBodyWrenchResponse Response; 00196 }; 00197 00198 } 00199 #endif
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