GetPhysicsProperties.h
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00001 #ifndef _ROS_SERVICE_GetPhysicsProperties_h
00002 #define _ROS_SERVICE_GetPhysicsProperties_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 GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
00014 
00015   class GetPhysicsPropertiesRequest : public ros::Msg
00016   {
00017     public:
00018 
00019     virtual int serialize(unsigned char *outbuffer) const
00020     {
00021       int offset = 0;
00022       return offset;
00023     }
00024 
00025     virtual int deserialize(unsigned char *inbuffer)
00026     {
00027       int offset = 0;
00028      return offset;
00029     }
00030 
00031     const char * getType(){ return GETPHYSICSPROPERTIES; };
00032     const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
00033 
00034   };
00035 
00036   class GetPhysicsPropertiesResponse : public ros::Msg
00037   {
00038     public:
00039       float time_step;
00040       bool pause;
00041       float max_update_rate;
00042       geometry_msgs::Vector3 gravity;
00043       gazebo_msgs::ODEPhysics ode_config;
00044       bool success;
00045       const char* status_message;
00046 
00047     virtual int serialize(unsigned char *outbuffer) const
00048     {
00049       int offset = 0;
00050       int32_t * val_time_step = (int32_t *) &(this->time_step);
00051       int32_t exp_time_step = (((*val_time_step)>>23)&255);
00052       if(exp_time_step != 0)
00053         exp_time_step += 1023-127;
00054       int32_t sig_time_step = *val_time_step;
00055       *(outbuffer + offset++) = 0;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = 0;
00058       *(outbuffer + offset++) = (sig_time_step<<5) & 0xff;
00059       *(outbuffer + offset++) = (sig_time_step>>3) & 0xff;
00060       *(outbuffer + offset++) = (sig_time_step>>11) & 0xff;
00061       *(outbuffer + offset++) = ((exp_time_step<<4) & 0xF0) | ((sig_time_step>>19)&0x0F);
00062       *(outbuffer + offset++) = (exp_time_step>>4) & 0x7F;
00063       if(this->time_step < 0) *(outbuffer + offset -1) |= 0x80;
00064       union {
00065         bool real;
00066         uint8_t base;
00067       } u_pause;
00068       u_pause.real = this->pause;
00069       *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
00070       offset += sizeof(this->pause);
00071       int32_t * val_max_update_rate = (int32_t *) &(this->max_update_rate);
00072       int32_t exp_max_update_rate = (((*val_max_update_rate)>>23)&255);
00073       if(exp_max_update_rate != 0)
00074         exp_max_update_rate += 1023-127;
00075       int32_t sig_max_update_rate = *val_max_update_rate;
00076       *(outbuffer + offset++) = 0;
00077       *(outbuffer + offset++) = 0;
00078       *(outbuffer + offset++) = 0;
00079       *(outbuffer + offset++) = (sig_max_update_rate<<5) & 0xff;
00080       *(outbuffer + offset++) = (sig_max_update_rate>>3) & 0xff;
00081       *(outbuffer + offset++) = (sig_max_update_rate>>11) & 0xff;
00082       *(outbuffer + offset++) = ((exp_max_update_rate<<4) & 0xF0) | ((sig_max_update_rate>>19)&0x0F);
00083       *(outbuffer + offset++) = (exp_max_update_rate>>4) & 0x7F;
00084       if(this->max_update_rate < 0) *(outbuffer + offset -1) |= 0x80;
00085       offset += this->gravity.serialize(outbuffer + offset);
00086       offset += this->ode_config.serialize(outbuffer + offset);
00087       union {
00088         bool real;
00089         uint8_t base;
00090       } u_success;
00091       u_success.real = this->success;
00092       *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00093       offset += sizeof(this->success);
00094       uint32_t length_status_message = strlen(this->status_message);
00095       memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
00096       offset += 4;
00097       memcpy(outbuffer + offset, this->status_message, length_status_message);
00098       offset += length_status_message;
00099       return offset;
00100     }
00101 
00102     virtual int deserialize(unsigned char *inbuffer)
00103     {
00104       int offset = 0;
00105       uint32_t * val_time_step = (uint32_t*) &(this->time_step);
00106       offset += 3;
00107       *val_time_step = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00108       *val_time_step |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00109       *val_time_step |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00110       *val_time_step |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00111       uint32_t exp_time_step = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00112       exp_time_step |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00113       if(exp_time_step !=0)
00114         *val_time_step |= ((exp_time_step)-1023+127)<<23;
00115       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->time_step = -this->time_step;
00116       union {
00117         bool real;
00118         uint8_t base;
00119       } u_pause;
00120       u_pause.base = 0;
00121       u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00122       this->pause = u_pause.real;
00123       offset += sizeof(this->pause);
00124       uint32_t * val_max_update_rate = (uint32_t*) &(this->max_update_rate);
00125       offset += 3;
00126       *val_max_update_rate = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00127       *val_max_update_rate |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00128       *val_max_update_rate |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00129       *val_max_update_rate |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00130       uint32_t exp_max_update_rate = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00131       exp_max_update_rate |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00132       if(exp_max_update_rate !=0)
00133         *val_max_update_rate |= ((exp_max_update_rate)-1023+127)<<23;
00134       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->max_update_rate = -this->max_update_rate;
00135       offset += this->gravity.deserialize(inbuffer + offset);
00136       offset += this->ode_config.deserialize(inbuffer + offset);
00137       union {
00138         bool real;
00139         uint8_t base;
00140       } u_success;
00141       u_success.base = 0;
00142       u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00143       this->success = u_success.real;
00144       offset += sizeof(this->success);
00145       uint32_t length_status_message;
00146       memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
00147       offset += 4;
00148       for(unsigned int k= offset; k< offset+length_status_message; ++k){
00149           inbuffer[k-1]=inbuffer[k];
00150       }
00151       inbuffer[offset+length_status_message-1]=0;
00152       this->status_message = (char *)(inbuffer + offset-1);
00153       offset += length_status_message;
00154      return offset;
00155     }
00156 
00157     const char * getType(){ return GETPHYSICSPROPERTIES; };
00158     const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
00159 
00160   };
00161 
00162   class GetPhysicsProperties {
00163     public:
00164     typedef GetPhysicsPropertiesRequest Request;
00165     typedef GetPhysicsPropertiesResponse Response;
00166   };
00167 
00168 }
00169 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Thu Aug 27 2015 14:39:49