#ifndef _ROS_SERVICE_ApplyBodyWrench_h
#define _ROS_SERVICE_ApplyBodyWrench_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "ros/duration.h"
#include "geometry_msgs/Wrench.h"
#include "ros/time.h"
#include "geometry_msgs/Point.h"

namespace gazebo_msgs
{

static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";

  class ApplyBodyWrenchRequest : public ros::Msg
  {
    public:
      typedef const char* _body_name_type;
      _body_name_type body_name;
      typedef const char* _reference_frame_type;
      _reference_frame_type reference_frame;
      typedef geometry_msgs::Point _reference_point_type;
      _reference_point_type reference_point;
      typedef geometry_msgs::Wrench _wrench_type;
      _wrench_type wrench;
      typedef ros::Time _start_time_type;
      _start_time_type start_time;
      typedef ros::Duration _duration_type;
      _duration_type duration;

    ApplyBodyWrenchRequest():
      body_name(""),
      reference_frame(""),
      reference_point(),
      wrench(),
      start_time(),
      duration()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_body_name = strlen(this->body_name);
      varToArr(outbuffer + offset, length_body_name);
      offset += 4;
      memcpy(outbuffer + offset, this->body_name, length_body_name);
      offset += length_body_name;
      uint32_t length_reference_frame = strlen(this->reference_frame);
      varToArr(outbuffer + offset, length_reference_frame);
      offset += 4;
      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
      offset += length_reference_frame;
      offset += this->reference_point.serialize(outbuffer + offset);
      offset += this->wrench.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->start_time.sec);
      *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->start_time.nsec);
      *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->duration.sec);
      *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
      offset += sizeof(this->duration.nsec);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_body_name;
      arrToVar(length_body_name, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_body_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_body_name-1]=0;
      this->body_name = (char *)(inbuffer + offset-1);
      offset += length_body_name;
      uint32_t length_reference_frame;
      arrToVar(length_reference_frame, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_reference_frame-1]=0;
      this->reference_frame = (char *)(inbuffer + offset-1);
      offset += length_reference_frame;
      offset += this->reference_point.deserialize(inbuffer + offset);
      offset += this->wrench.deserialize(inbuffer + offset);
      this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->start_time.sec);
      this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->start_time.nsec);
      this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->duration.sec);
      this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->duration.nsec);
     return offset;
    }

    const char * getType(){ return APPLYBODYWRENCH; };
    const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };

  };

  class ApplyBodyWrenchResponse : public ros::Msg
  {
    public:
      typedef bool _success_type;
      _success_type success;
      typedef const char* _status_message_type;
      _status_message_type status_message;

    ApplyBodyWrenchResponse():
      success(0),
      status_message("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.real = this->success;
      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->success);
      uint32_t length_status_message = strlen(this->status_message);
      varToArr(outbuffer + offset, length_status_message);
      offset += 4;
      memcpy(outbuffer + offset, this->status_message, length_status_message);
      offset += length_status_message;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      union {
        bool real;
        uint8_t base;
      } u_success;
      u_success.base = 0;
      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->success = u_success.real;
      offset += sizeof(this->success);
      uint32_t length_status_message;
      arrToVar(length_status_message, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_status_message; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_status_message-1]=0;
      this->status_message = (char *)(inbuffer + offset-1);
      offset += length_status_message;
     return offset;
    }

    const char * getType(){ return APPLYBODYWRENCH; };
    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };

  };

  class ApplyBodyWrench {
    public:
    typedef ApplyBodyWrenchRequest Request;
    typedef ApplyBodyWrenchResponse Response;
  };

}
#endif
