Go to the documentation of this file.00001 #ifndef _ROS_SERVICE_SetLinkProperties_h
00002 #define _ROS_SERVICE_SetLinkProperties_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "geometry_msgs/Pose.h"
00008
00009 namespace gazebo_msgs
00010 {
00011
00012 static const char SETLINKPROPERTIES[] = "gazebo_msgs/SetLinkProperties";
00013
00014 class SetLinkPropertiesRequest : public ros::Msg
00015 {
00016 public:
00017 char * link_name;
00018 geometry_msgs::Pose com;
00019 bool gravity_mode;
00020 float mass;
00021 float ixx;
00022 float ixy;
00023 float ixz;
00024 float iyy;
00025 float iyz;
00026 float izz;
00027
00028 virtual int serialize(unsigned char *outbuffer) const
00029 {
00030 int offset = 0;
00031 uint32_t length_link_name = strlen( (const char*) this->link_name);
00032 memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
00033 offset += 4;
00034 memcpy(outbuffer + offset, this->link_name, length_link_name);
00035 offset += length_link_name;
00036 offset += this->com.serialize(outbuffer + offset);
00037 union {
00038 bool real;
00039 uint8_t base;
00040 } u_gravity_mode;
00041 u_gravity_mode.real = this->gravity_mode;
00042 *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF;
00043 offset += sizeof(this->gravity_mode);
00044 int32_t * val_mass = (int32_t *) &(this->mass);
00045 int32_t exp_mass = (((*val_mass)>>23)&255);
00046 if(exp_mass != 0)
00047 exp_mass += 1023-127;
00048 int32_t sig_mass = *val_mass;
00049 *(outbuffer + offset++) = 0;
00050 *(outbuffer + offset++) = 0;
00051 *(outbuffer + offset++) = 0;
00052 *(outbuffer + offset++) = (sig_mass<<5) & 0xff;
00053 *(outbuffer + offset++) = (sig_mass>>3) & 0xff;
00054 *(outbuffer + offset++) = (sig_mass>>11) & 0xff;
00055 *(outbuffer + offset++) = ((exp_mass<<4) & 0xF0) | ((sig_mass>>19)&0x0F);
00056 *(outbuffer + offset++) = (exp_mass>>4) & 0x7F;
00057 if(this->mass < 0) *(outbuffer + offset -1) |= 0x80;
00058 int32_t * val_ixx = (int32_t *) &(this->ixx);
00059 int32_t exp_ixx = (((*val_ixx)>>23)&255);
00060 if(exp_ixx != 0)
00061 exp_ixx += 1023-127;
00062 int32_t sig_ixx = *val_ixx;
00063 *(outbuffer + offset++) = 0;
00064 *(outbuffer + offset++) = 0;
00065 *(outbuffer + offset++) = 0;
00066 *(outbuffer + offset++) = (sig_ixx<<5) & 0xff;
00067 *(outbuffer + offset++) = (sig_ixx>>3) & 0xff;
00068 *(outbuffer + offset++) = (sig_ixx>>11) & 0xff;
00069 *(outbuffer + offset++) = ((exp_ixx<<4) & 0xF0) | ((sig_ixx>>19)&0x0F);
00070 *(outbuffer + offset++) = (exp_ixx>>4) & 0x7F;
00071 if(this->ixx < 0) *(outbuffer + offset -1) |= 0x80;
00072 int32_t * val_ixy = (int32_t *) &(this->ixy);
00073 int32_t exp_ixy = (((*val_ixy)>>23)&255);
00074 if(exp_ixy != 0)
00075 exp_ixy += 1023-127;
00076 int32_t sig_ixy = *val_ixy;
00077 *(outbuffer + offset++) = 0;
00078 *(outbuffer + offset++) = 0;
00079 *(outbuffer + offset++) = 0;
00080 *(outbuffer + offset++) = (sig_ixy<<5) & 0xff;
00081 *(outbuffer + offset++) = (sig_ixy>>3) & 0xff;
00082 *(outbuffer + offset++) = (sig_ixy>>11) & 0xff;
00083 *(outbuffer + offset++) = ((exp_ixy<<4) & 0xF0) | ((sig_ixy>>19)&0x0F);
00084 *(outbuffer + offset++) = (exp_ixy>>4) & 0x7F;
00085 if(this->ixy < 0) *(outbuffer + offset -1) |= 0x80;
00086 int32_t * val_ixz = (int32_t *) &(this->ixz);
00087 int32_t exp_ixz = (((*val_ixz)>>23)&255);
00088 if(exp_ixz != 0)
00089 exp_ixz += 1023-127;
00090 int32_t sig_ixz = *val_ixz;
00091 *(outbuffer + offset++) = 0;
00092 *(outbuffer + offset++) = 0;
00093 *(outbuffer + offset++) = 0;
00094 *(outbuffer + offset++) = (sig_ixz<<5) & 0xff;
00095 *(outbuffer + offset++) = (sig_ixz>>3) & 0xff;
00096 *(outbuffer + offset++) = (sig_ixz>>11) & 0xff;
00097 *(outbuffer + offset++) = ((exp_ixz<<4) & 0xF0) | ((sig_ixz>>19)&0x0F);
00098 *(outbuffer + offset++) = (exp_ixz>>4) & 0x7F;
00099 if(this->ixz < 0) *(outbuffer + offset -1) |= 0x80;
00100 int32_t * val_iyy = (int32_t *) &(this->iyy);
00101 int32_t exp_iyy = (((*val_iyy)>>23)&255);
00102 if(exp_iyy != 0)
00103 exp_iyy += 1023-127;
00104 int32_t sig_iyy = *val_iyy;
00105 *(outbuffer + offset++) = 0;
00106 *(outbuffer + offset++) = 0;
00107 *(outbuffer + offset++) = 0;
00108 *(outbuffer + offset++) = (sig_iyy<<5) & 0xff;
00109 *(outbuffer + offset++) = (sig_iyy>>3) & 0xff;
00110 *(outbuffer + offset++) = (sig_iyy>>11) & 0xff;
00111 *(outbuffer + offset++) = ((exp_iyy<<4) & 0xF0) | ((sig_iyy>>19)&0x0F);
00112 *(outbuffer + offset++) = (exp_iyy>>4) & 0x7F;
00113 if(this->iyy < 0) *(outbuffer + offset -1) |= 0x80;
00114 int32_t * val_iyz = (int32_t *) &(this->iyz);
00115 int32_t exp_iyz = (((*val_iyz)>>23)&255);
00116 if(exp_iyz != 0)
00117 exp_iyz += 1023-127;
00118 int32_t sig_iyz = *val_iyz;
00119 *(outbuffer + offset++) = 0;
00120 *(outbuffer + offset++) = 0;
00121 *(outbuffer + offset++) = 0;
00122 *(outbuffer + offset++) = (sig_iyz<<5) & 0xff;
00123 *(outbuffer + offset++) = (sig_iyz>>3) & 0xff;
00124 *(outbuffer + offset++) = (sig_iyz>>11) & 0xff;
00125 *(outbuffer + offset++) = ((exp_iyz<<4) & 0xF0) | ((sig_iyz>>19)&0x0F);
00126 *(outbuffer + offset++) = (exp_iyz>>4) & 0x7F;
00127 if(this->iyz < 0) *(outbuffer + offset -1) |= 0x80;
00128 int32_t * val_izz = (int32_t *) &(this->izz);
00129 int32_t exp_izz = (((*val_izz)>>23)&255);
00130 if(exp_izz != 0)
00131 exp_izz += 1023-127;
00132 int32_t sig_izz = *val_izz;
00133 *(outbuffer + offset++) = 0;
00134 *(outbuffer + offset++) = 0;
00135 *(outbuffer + offset++) = 0;
00136 *(outbuffer + offset++) = (sig_izz<<5) & 0xff;
00137 *(outbuffer + offset++) = (sig_izz>>3) & 0xff;
00138 *(outbuffer + offset++) = (sig_izz>>11) & 0xff;
00139 *(outbuffer + offset++) = ((exp_izz<<4) & 0xF0) | ((sig_izz>>19)&0x0F);
00140 *(outbuffer + offset++) = (exp_izz>>4) & 0x7F;
00141 if(this->izz < 0) *(outbuffer + offset -1) |= 0x80;
00142 return offset;
00143 }
00144
00145 virtual int deserialize(unsigned char *inbuffer)
00146 {
00147 int offset = 0;
00148 uint32_t length_link_name;
00149 memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
00150 offset += 4;
00151 for(unsigned int k= offset; k< offset+length_link_name; ++k){
00152 inbuffer[k-1]=inbuffer[k];
00153 }
00154 inbuffer[offset+length_link_name-1]=0;
00155 this->link_name = (char *)(inbuffer + offset-1);
00156 offset += length_link_name;
00157 offset += this->com.deserialize(inbuffer + offset);
00158 union {
00159 bool real;
00160 uint8_t base;
00161 } u_gravity_mode;
00162 u_gravity_mode.base = 0;
00163 u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00164 this->gravity_mode = u_gravity_mode.real;
00165 offset += sizeof(this->gravity_mode);
00166 uint32_t * val_mass = (uint32_t*) &(this->mass);
00167 offset += 3;
00168 *val_mass = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00169 *val_mass |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00170 *val_mass |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00171 *val_mass |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00172 uint32_t exp_mass = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00173 exp_mass |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00174 if(exp_mass !=0)
00175 *val_mass |= ((exp_mass)-1023+127)<<23;
00176 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->mass = -this->mass;
00177 uint32_t * val_ixx = (uint32_t*) &(this->ixx);
00178 offset += 3;
00179 *val_ixx = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00180 *val_ixx |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00181 *val_ixx |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00182 *val_ixx |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00183 uint32_t exp_ixx = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00184 exp_ixx |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00185 if(exp_ixx !=0)
00186 *val_ixx |= ((exp_ixx)-1023+127)<<23;
00187 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->ixx = -this->ixx;
00188 uint32_t * val_ixy = (uint32_t*) &(this->ixy);
00189 offset += 3;
00190 *val_ixy = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00191 *val_ixy |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00192 *val_ixy |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00193 *val_ixy |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00194 uint32_t exp_ixy = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00195 exp_ixy |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00196 if(exp_ixy !=0)
00197 *val_ixy |= ((exp_ixy)-1023+127)<<23;
00198 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->ixy = -this->ixy;
00199 uint32_t * val_ixz = (uint32_t*) &(this->ixz);
00200 offset += 3;
00201 *val_ixz = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00202 *val_ixz |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00203 *val_ixz |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00204 *val_ixz |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00205 uint32_t exp_ixz = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00206 exp_ixz |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00207 if(exp_ixz !=0)
00208 *val_ixz |= ((exp_ixz)-1023+127)<<23;
00209 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->ixz = -this->ixz;
00210 uint32_t * val_iyy = (uint32_t*) &(this->iyy);
00211 offset += 3;
00212 *val_iyy = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00213 *val_iyy |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00214 *val_iyy |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00215 *val_iyy |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00216 uint32_t exp_iyy = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00217 exp_iyy |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00218 if(exp_iyy !=0)
00219 *val_iyy |= ((exp_iyy)-1023+127)<<23;
00220 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->iyy = -this->iyy;
00221 uint32_t * val_iyz = (uint32_t*) &(this->iyz);
00222 offset += 3;
00223 *val_iyz = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00224 *val_iyz |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00225 *val_iyz |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00226 *val_iyz |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00227 uint32_t exp_iyz = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00228 exp_iyz |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00229 if(exp_iyz !=0)
00230 *val_iyz |= ((exp_iyz)-1023+127)<<23;
00231 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->iyz = -this->iyz;
00232 uint32_t * val_izz = (uint32_t*) &(this->izz);
00233 offset += 3;
00234 *val_izz = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00235 *val_izz |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00236 *val_izz |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00237 *val_izz |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00238 uint32_t exp_izz = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00239 exp_izz |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00240 if(exp_izz !=0)
00241 *val_izz |= ((exp_izz)-1023+127)<<23;
00242 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->izz = -this->izz;
00243 return offset;
00244 }
00245
00246 const char * getType(){ return SETLINKPROPERTIES; };
00247 const char * getMD5(){ return "68ac74a4be01b165bc305b5ccdc45e91"; };
00248
00249 };
00250
00251 class SetLinkPropertiesResponse : public ros::Msg
00252 {
00253 public:
00254 bool success;
00255 char * status_message;
00256
00257 virtual int serialize(unsigned char *outbuffer) const
00258 {
00259 int offset = 0;
00260 union {
00261 bool real;
00262 uint8_t base;
00263 } u_success;
00264 u_success.real = this->success;
00265 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
00266 offset += sizeof(this->success);
00267 uint32_t length_status_message = strlen( (const char*) this->status_message);
00268 memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
00269 offset += 4;
00270 memcpy(outbuffer + offset, this->status_message, length_status_message);
00271 offset += length_status_message;
00272 return offset;
00273 }
00274
00275 virtual int deserialize(unsigned char *inbuffer)
00276 {
00277 int offset = 0;
00278 union {
00279 bool real;
00280 uint8_t base;
00281 } u_success;
00282 u_success.base = 0;
00283 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00284 this->success = u_success.real;
00285 offset += sizeof(this->success);
00286 uint32_t length_status_message;
00287 memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
00288 offset += 4;
00289 for(unsigned int k= offset; k< offset+length_status_message; ++k){
00290 inbuffer[k-1]=inbuffer[k];
00291 }
00292 inbuffer[offset+length_status_message-1]=0;
00293 this->status_message = (char *)(inbuffer + offset-1);
00294 offset += length_status_message;
00295 return offset;
00296 }
00297
00298 const char * getType(){ return SETLINKPROPERTIES; };
00299 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
00300
00301 };
00302
00303 class SetLinkProperties {
00304 public:
00305 typedef SetLinkPropertiesRequest Request;
00306 typedef SetLinkPropertiesResponse Response;
00307 };
00308
00309 }
00310 #endif