LinkState.h

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#ifndef _ROS_gazebo_msgs_LinkState_h
#define _ROS_gazebo_msgs_LinkState_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "geometry_msgs/Pose.h"
#include "geometry_msgs/Twist.h"

namespace gazebo_msgs
{

  class LinkState : public ros::Msg
  {
    public:
      char * link_name;
      geometry_msgs::Pose pose;
      geometry_msgs::Twist twist;
      char * reference_frame;

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_link_name = strlen( (const char*) this->link_name);
      memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->link_name, length_link_name);
      offset += length_link_name;
      offset += this->pose.serialize(outbuffer + offset);
      offset += this->twist.serialize(outbuffer + offset);
      uint32_t length_reference_frame = strlen( (const char*) this->reference_frame);
      memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
      offset += 4;
      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
      offset += length_reference_frame;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_link_name;
      memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_link_name; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_link_name-1]=0;
      this->link_name = (char *)(inbuffer + offset-1);
      offset += length_link_name;
      offset += this->pose.deserialize(inbuffer + offset);
      offset += this->twist.deserialize(inbuffer + offset);
      uint32_t length_reference_frame;
      memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
      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;
     return offset;
    }

    const char * getType(){ return "gazebo_msgs/LinkState"; };
    const char * getMD5(){ return "0818ebbf28ce3a08d48ab1eaa7309ebe"; };

  };

}
#endif