Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
ModelStates.h
00001 #ifndef _ROS_gazebo_msgs_ModelStates_h 00002 #define _ROS_gazebo_msgs_ModelStates_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "geometry_msgs/Pose.h" 00009 #include "geometry_msgs/Twist.h" 00010 00011 namespace gazebo_msgs 00012 { 00013 00014 class ModelStates : public ros::Msg 00015 { 00016 public: 00017 uint32_t name_length; 00018 typedef char* _name_type; 00019 _name_type st_name; 00020 _name_type * name; 00021 uint32_t pose_length; 00022 typedef geometry_msgs::Pose _pose_type; 00023 _pose_type st_pose; 00024 _pose_type * pose; 00025 uint32_t twist_length; 00026 typedef geometry_msgs::Twist _twist_type; 00027 _twist_type st_twist; 00028 _twist_type * twist; 00029 00030 ModelStates(): 00031 name_length(0), name(NULL), 00032 pose_length(0), pose(NULL), 00033 twist_length(0), twist(NULL) 00034 { 00035 } 00036 00037 virtual int serialize(unsigned char *outbuffer) const 00038 { 00039 int offset = 0; 00040 *(outbuffer + offset + 0) = (this->name_length >> (8 * 0)) & 0xFF; 00041 *(outbuffer + offset + 1) = (this->name_length >> (8 * 1)) & 0xFF; 00042 *(outbuffer + offset + 2) = (this->name_length >> (8 * 2)) & 0xFF; 00043 *(outbuffer + offset + 3) = (this->name_length >> (8 * 3)) & 0xFF; 00044 offset += sizeof(this->name_length); 00045 for( uint32_t i = 0; i < name_length; i++){ 00046 uint32_t length_namei = strlen(this->name[i]); 00047 varToArr(outbuffer + offset, length_namei); 00048 offset += 4; 00049 memcpy(outbuffer + offset, this->name[i], length_namei); 00050 offset += length_namei; 00051 } 00052 *(outbuffer + offset + 0) = (this->pose_length >> (8 * 0)) & 0xFF; 00053 *(outbuffer + offset + 1) = (this->pose_length >> (8 * 1)) & 0xFF; 00054 *(outbuffer + offset + 2) = (this->pose_length >> (8 * 2)) & 0xFF; 00055 *(outbuffer + offset + 3) = (this->pose_length >> (8 * 3)) & 0xFF; 00056 offset += sizeof(this->pose_length); 00057 for( uint32_t i = 0; i < pose_length; i++){ 00058 offset += this->pose[i].serialize(outbuffer + offset); 00059 } 00060 *(outbuffer + offset + 0) = (this->twist_length >> (8 * 0)) & 0xFF; 00061 *(outbuffer + offset + 1) = (this->twist_length >> (8 * 1)) & 0xFF; 00062 *(outbuffer + offset + 2) = (this->twist_length >> (8 * 2)) & 0xFF; 00063 *(outbuffer + offset + 3) = (this->twist_length >> (8 * 3)) & 0xFF; 00064 offset += sizeof(this->twist_length); 00065 for( uint32_t i = 0; i < twist_length; i++){ 00066 offset += this->twist[i].serialize(outbuffer + offset); 00067 } 00068 return offset; 00069 } 00070 00071 virtual int deserialize(unsigned char *inbuffer) 00072 { 00073 int offset = 0; 00074 uint32_t name_lengthT = ((uint32_t) (*(inbuffer + offset))); 00075 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00076 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00077 name_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00078 offset += sizeof(this->name_length); 00079 if(name_lengthT > name_length) 00080 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*)); 00081 name_length = name_lengthT; 00082 for( uint32_t i = 0; i < name_length; i++){ 00083 uint32_t length_st_name; 00084 arrToVar(length_st_name, (inbuffer + offset)); 00085 offset += 4; 00086 for(unsigned int k= offset; k< offset+length_st_name; ++k){ 00087 inbuffer[k-1]=inbuffer[k]; 00088 } 00089 inbuffer[offset+length_st_name-1]=0; 00090 this->st_name = (char *)(inbuffer + offset-1); 00091 offset += length_st_name; 00092 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*)); 00093 } 00094 uint32_t pose_lengthT = ((uint32_t) (*(inbuffer + offset))); 00095 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00096 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00097 pose_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00098 offset += sizeof(this->pose_length); 00099 if(pose_lengthT > pose_length) 00100 this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose)); 00101 pose_length = pose_lengthT; 00102 for( uint32_t i = 0; i < pose_length; i++){ 00103 offset += this->st_pose.deserialize(inbuffer + offset); 00104 memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose)); 00105 } 00106 uint32_t twist_lengthT = ((uint32_t) (*(inbuffer + offset))); 00107 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00108 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00109 twist_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00110 offset += sizeof(this->twist_length); 00111 if(twist_lengthT > twist_length) 00112 this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist)); 00113 twist_length = twist_lengthT; 00114 for( uint32_t i = 0; i < twist_length; i++){ 00115 offset += this->st_twist.deserialize(inbuffer + offset); 00116 memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist)); 00117 } 00118 return offset; 00119 } 00120 00121 const char * getType(){ return "gazebo_msgs/ModelStates"; }; 00122 const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; }; 00123 00124 }; 00125 00126 } 00127 #endif
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