SetPhysicsProperties.h
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00001 #ifndef _ROS_SERVICE_SetPhysicsProperties_h
00002 #define _ROS_SERVICE_SetPhysicsProperties_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "geometry_msgs/Vector3.h"
00008 #include "gazebo_msgs/ODEPhysics.h"
00009 
00010 namespace gazebo_msgs
00011 {
00012 
00013 static const char SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
00014 
00015   class SetPhysicsPropertiesRequest : public ros::Msg
00016   {
00017     public:
00018       float time_step;
00019       float max_update_rate;
00020       geometry_msgs::Vector3 gravity;
00021       gazebo_msgs::ODEPhysics ode_config;
00022 
00023     virtual int serialize(unsigned char *outbuffer) const
00024     {
00025       int offset = 0;
00026       int32_t * val_time_step = (int32_t *) &(this->time_step);
00027       int32_t exp_time_step = (((*val_time_step)>>23)&255);
00028       if(exp_time_step != 0)
00029         exp_time_step += 1023-127;
00030       int32_t sig_time_step = *val_time_step;
00031       *(outbuffer + offset++) = 0;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = (sig_time_step<<5) & 0xff;
00035       *(outbuffer + offset++) = (sig_time_step>>3) & 0xff;
00036       *(outbuffer + offset++) = (sig_time_step>>11) & 0xff;
00037       *(outbuffer + offset++) = ((exp_time_step<<4) & 0xF0) | ((sig_time_step>>19)&0x0F);
00038       *(outbuffer + offset++) = (exp_time_step>>4) & 0x7F;
00039       if(this->time_step < 0) *(outbuffer + offset -1) |= 0x80;
00040       int32_t * val_max_update_rate = (int32_t *) &(this->max_update_rate);
00041       int32_t exp_max_update_rate = (((*val_max_update_rate)>>23)&255);
00042       if(exp_max_update_rate != 0)
00043         exp_max_update_rate += 1023-127;
00044       int32_t sig_max_update_rate = *val_max_update_rate;
00045       *(outbuffer + offset++) = 0;
00046       *(outbuffer + offset++) = 0;
00047       *(outbuffer + offset++) = 0;
00048       *(outbuffer + offset++) = (sig_max_update_rate<<5) & 0xff;
00049       *(outbuffer + offset++) = (sig_max_update_rate>>3) & 0xff;
00050       *(outbuffer + offset++) = (sig_max_update_rate>>11) & 0xff;
00051       *(outbuffer + offset++) = ((exp_max_update_rate<<4) & 0xF0) | ((sig_max_update_rate>>19)&0x0F);
00052       *(outbuffer + offset++) = (exp_max_update_rate>>4) & 0x7F;
00053       if(this->max_update_rate < 0) *(outbuffer + offset -1) |= 0x80;
00054       offset += this->gravity.serialize(outbuffer + offset);
00055       offset += this->ode_config.serialize(outbuffer + offset);
00056       return offset;
00057     }
00058 
00059     virtual int deserialize(unsigned char *inbuffer)
00060     {
00061       int offset = 0;
00062       uint32_t * val_time_step = (uint32_t*) &(this->time_step);
00063       offset += 3;
00064       *val_time_step = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00065       *val_time_step |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00066       *val_time_step |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00067       *val_time_step |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00068       uint32_t exp_time_step = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00069       exp_time_step |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00070       if(exp_time_step !=0)
00071         *val_time_step |= ((exp_time_step)-1023+127)<<23;
00072       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->time_step = -this->time_step;
00073       uint32_t * val_max_update_rate = (uint32_t*) &(this->max_update_rate);
00074       offset += 3;
00075       *val_max_update_rate = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00076       *val_max_update_rate |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00077       *val_max_update_rate |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00078       *val_max_update_rate |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00079       uint32_t exp_max_update_rate = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00080       exp_max_update_rate |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00081       if(exp_max_update_rate !=0)
00082         *val_max_update_rate |= ((exp_max_update_rate)-1023+127)<<23;
00083       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->max_update_rate = -this->max_update_rate;
00084       offset += this->gravity.deserialize(inbuffer + offset);
00085       offset += this->ode_config.deserialize(inbuffer + offset);
00086      return offset;
00087     }
00088 
00089     const char * getType(){ return SETPHYSICSPROPERTIES; };
00090     const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
00091 
00092   };
00093 
00094   class SetPhysicsPropertiesResponse : public ros::Msg
00095   {
00096     public:
00097       bool success;
00098       char * status_message;
00099 
00100     virtual int serialize(unsigned char *outbuffer) const
00101     {
00102       int offset = 0;
00103       union {
00104         bool real;
00105         uint8_t base;
00106       } u_success;
00107       u_success.real = this->success;
00108       *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00109       offset += sizeof(this->success);
00110       uint32_t length_status_message = strlen( (const char*) this->status_message);
00111       memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
00112       offset += 4;
00113       memcpy(outbuffer + offset, this->status_message, length_status_message);
00114       offset += length_status_message;
00115       return offset;
00116     }
00117 
00118     virtual int deserialize(unsigned char *inbuffer)
00119     {
00120       int offset = 0;
00121       union {
00122         bool real;
00123         uint8_t base;
00124       } u_success;
00125       u_success.base = 0;
00126       u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00127       this->success = u_success.real;
00128       offset += sizeof(this->success);
00129       uint32_t length_status_message;
00130       memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
00131       offset += 4;
00132       for(unsigned int k= offset; k< offset+length_status_message; ++k){
00133           inbuffer[k-1]=inbuffer[k];
00134       }
00135       inbuffer[offset+length_status_message-1]=0;
00136       this->status_message = (char *)(inbuffer + offset-1);
00137       offset += length_status_message;
00138      return offset;
00139     }
00140 
00141     const char * getType(){ return SETPHYSICSPROPERTIES; };
00142     const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
00143 
00144   };
00145 
00146   class SetPhysicsProperties {
00147     public:
00148     typedef SetPhysicsPropertiesRequest Request;
00149     typedef SetPhysicsPropertiesResponse Response;
00150   };
00151 
00152 }
00153 #endif


lizi_arduino
Author(s): RoboTiCan
autogenerated on Wed Aug 26 2015 12:24:22