Go to the documentation of this file.00001 #ifndef _ROS_gazebo_msgs_ODEPhysics_h
00002 #define _ROS_gazebo_msgs_ODEPhysics_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008
00009 namespace gazebo_msgs
00010 {
00011
00012 class ODEPhysics : public ros::Msg
00013 {
00014 public:
00015 bool auto_disable_bodies;
00016 uint32_t sor_pgs_precon_iters;
00017 uint32_t sor_pgs_iters;
00018 float sor_pgs_w;
00019 float sor_pgs_rms_error_tol;
00020 float contact_surface_layer;
00021 float contact_max_correcting_vel;
00022 float cfm;
00023 float erp;
00024 uint32_t max_contacts;
00025
00026 virtual int serialize(unsigned char *outbuffer) const
00027 {
00028 int offset = 0;
00029 union {
00030 bool real;
00031 uint8_t base;
00032 } u_auto_disable_bodies;
00033 u_auto_disable_bodies.real = this->auto_disable_bodies;
00034 *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF;
00035 offset += sizeof(this->auto_disable_bodies);
00036 *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF;
00037 *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF;
00038 *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF;
00039 *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF;
00040 offset += sizeof(this->sor_pgs_precon_iters);
00041 *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF;
00042 *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF;
00043 *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF;
00044 *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF;
00045 offset += sizeof(this->sor_pgs_iters);
00046 int32_t * val_sor_pgs_w = (int32_t *) &(this->sor_pgs_w);
00047 int32_t exp_sor_pgs_w = (((*val_sor_pgs_w)>>23)&255);
00048 if(exp_sor_pgs_w != 0)
00049 exp_sor_pgs_w += 1023-127;
00050 int32_t sig_sor_pgs_w = *val_sor_pgs_w;
00051 *(outbuffer + offset++) = 0;
00052 *(outbuffer + offset++) = 0;
00053 *(outbuffer + offset++) = 0;
00054 *(outbuffer + offset++) = (sig_sor_pgs_w<<5) & 0xff;
00055 *(outbuffer + offset++) = (sig_sor_pgs_w>>3) & 0xff;
00056 *(outbuffer + offset++) = (sig_sor_pgs_w>>11) & 0xff;
00057 *(outbuffer + offset++) = ((exp_sor_pgs_w<<4) & 0xF0) | ((sig_sor_pgs_w>>19)&0x0F);
00058 *(outbuffer + offset++) = (exp_sor_pgs_w>>4) & 0x7F;
00059 if(this->sor_pgs_w < 0) *(outbuffer + offset -1) |= 0x80;
00060 int32_t * val_sor_pgs_rms_error_tol = (int32_t *) &(this->sor_pgs_rms_error_tol);
00061 int32_t exp_sor_pgs_rms_error_tol = (((*val_sor_pgs_rms_error_tol)>>23)&255);
00062 if(exp_sor_pgs_rms_error_tol != 0)
00063 exp_sor_pgs_rms_error_tol += 1023-127;
00064 int32_t sig_sor_pgs_rms_error_tol = *val_sor_pgs_rms_error_tol;
00065 *(outbuffer + offset++) = 0;
00066 *(outbuffer + offset++) = 0;
00067 *(outbuffer + offset++) = 0;
00068 *(outbuffer + offset++) = (sig_sor_pgs_rms_error_tol<<5) & 0xff;
00069 *(outbuffer + offset++) = (sig_sor_pgs_rms_error_tol>>3) & 0xff;
00070 *(outbuffer + offset++) = (sig_sor_pgs_rms_error_tol>>11) & 0xff;
00071 *(outbuffer + offset++) = ((exp_sor_pgs_rms_error_tol<<4) & 0xF0) | ((sig_sor_pgs_rms_error_tol>>19)&0x0F);
00072 *(outbuffer + offset++) = (exp_sor_pgs_rms_error_tol>>4) & 0x7F;
00073 if(this->sor_pgs_rms_error_tol < 0) *(outbuffer + offset -1) |= 0x80;
00074 int32_t * val_contact_surface_layer = (int32_t *) &(this->contact_surface_layer);
00075 int32_t exp_contact_surface_layer = (((*val_contact_surface_layer)>>23)&255);
00076 if(exp_contact_surface_layer != 0)
00077 exp_contact_surface_layer += 1023-127;
00078 int32_t sig_contact_surface_layer = *val_contact_surface_layer;
00079 *(outbuffer + offset++) = 0;
00080 *(outbuffer + offset++) = 0;
00081 *(outbuffer + offset++) = 0;
00082 *(outbuffer + offset++) = (sig_contact_surface_layer<<5) & 0xff;
00083 *(outbuffer + offset++) = (sig_contact_surface_layer>>3) & 0xff;
00084 *(outbuffer + offset++) = (sig_contact_surface_layer>>11) & 0xff;
00085 *(outbuffer + offset++) = ((exp_contact_surface_layer<<4) & 0xF0) | ((sig_contact_surface_layer>>19)&0x0F);
00086 *(outbuffer + offset++) = (exp_contact_surface_layer>>4) & 0x7F;
00087 if(this->contact_surface_layer < 0) *(outbuffer + offset -1) |= 0x80;
00088 int32_t * val_contact_max_correcting_vel = (int32_t *) &(this->contact_max_correcting_vel);
00089 int32_t exp_contact_max_correcting_vel = (((*val_contact_max_correcting_vel)>>23)&255);
00090 if(exp_contact_max_correcting_vel != 0)
00091 exp_contact_max_correcting_vel += 1023-127;
00092 int32_t sig_contact_max_correcting_vel = *val_contact_max_correcting_vel;
00093 *(outbuffer + offset++) = 0;
00094 *(outbuffer + offset++) = 0;
00095 *(outbuffer + offset++) = 0;
00096 *(outbuffer + offset++) = (sig_contact_max_correcting_vel<<5) & 0xff;
00097 *(outbuffer + offset++) = (sig_contact_max_correcting_vel>>3) & 0xff;
00098 *(outbuffer + offset++) = (sig_contact_max_correcting_vel>>11) & 0xff;
00099 *(outbuffer + offset++) = ((exp_contact_max_correcting_vel<<4) & 0xF0) | ((sig_contact_max_correcting_vel>>19)&0x0F);
00100 *(outbuffer + offset++) = (exp_contact_max_correcting_vel>>4) & 0x7F;
00101 if(this->contact_max_correcting_vel < 0) *(outbuffer + offset -1) |= 0x80;
00102 int32_t * val_cfm = (int32_t *) &(this->cfm);
00103 int32_t exp_cfm = (((*val_cfm)>>23)&255);
00104 if(exp_cfm != 0)
00105 exp_cfm += 1023-127;
00106 int32_t sig_cfm = *val_cfm;
00107 *(outbuffer + offset++) = 0;
00108 *(outbuffer + offset++) = 0;
00109 *(outbuffer + offset++) = 0;
00110 *(outbuffer + offset++) = (sig_cfm<<5) & 0xff;
00111 *(outbuffer + offset++) = (sig_cfm>>3) & 0xff;
00112 *(outbuffer + offset++) = (sig_cfm>>11) & 0xff;
00113 *(outbuffer + offset++) = ((exp_cfm<<4) & 0xF0) | ((sig_cfm>>19)&0x0F);
00114 *(outbuffer + offset++) = (exp_cfm>>4) & 0x7F;
00115 if(this->cfm < 0) *(outbuffer + offset -1) |= 0x80;
00116 int32_t * val_erp = (int32_t *) &(this->erp);
00117 int32_t exp_erp = (((*val_erp)>>23)&255);
00118 if(exp_erp != 0)
00119 exp_erp += 1023-127;
00120 int32_t sig_erp = *val_erp;
00121 *(outbuffer + offset++) = 0;
00122 *(outbuffer + offset++) = 0;
00123 *(outbuffer + offset++) = 0;
00124 *(outbuffer + offset++) = (sig_erp<<5) & 0xff;
00125 *(outbuffer + offset++) = (sig_erp>>3) & 0xff;
00126 *(outbuffer + offset++) = (sig_erp>>11) & 0xff;
00127 *(outbuffer + offset++) = ((exp_erp<<4) & 0xF0) | ((sig_erp>>19)&0x0F);
00128 *(outbuffer + offset++) = (exp_erp>>4) & 0x7F;
00129 if(this->erp < 0) *(outbuffer + offset -1) |= 0x80;
00130 *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF;
00131 *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF;
00132 *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF;
00133 *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF;
00134 offset += sizeof(this->max_contacts);
00135 return offset;
00136 }
00137
00138 virtual int deserialize(unsigned char *inbuffer)
00139 {
00140 int offset = 0;
00141 union {
00142 bool real;
00143 uint8_t base;
00144 } u_auto_disable_bodies;
00145 u_auto_disable_bodies.base = 0;
00146 u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00147 this->auto_disable_bodies = u_auto_disable_bodies.real;
00148 offset += sizeof(this->auto_disable_bodies);
00149 this->sor_pgs_precon_iters = ((uint32_t) (*(inbuffer + offset)));
00150 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00151 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00152 this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00153 offset += sizeof(this->sor_pgs_precon_iters);
00154 this->sor_pgs_iters = ((uint32_t) (*(inbuffer + offset)));
00155 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00156 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00157 this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00158 offset += sizeof(this->sor_pgs_iters);
00159 uint32_t * val_sor_pgs_w = (uint32_t*) &(this->sor_pgs_w);
00160 offset += 3;
00161 *val_sor_pgs_w = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00162 *val_sor_pgs_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00163 *val_sor_pgs_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00164 *val_sor_pgs_w |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00165 uint32_t exp_sor_pgs_w = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00166 exp_sor_pgs_w |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00167 if(exp_sor_pgs_w !=0)
00168 *val_sor_pgs_w |= ((exp_sor_pgs_w)-1023+127)<<23;
00169 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->sor_pgs_w = -this->sor_pgs_w;
00170 uint32_t * val_sor_pgs_rms_error_tol = (uint32_t*) &(this->sor_pgs_rms_error_tol);
00171 offset += 3;
00172 *val_sor_pgs_rms_error_tol = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00173 *val_sor_pgs_rms_error_tol |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00174 *val_sor_pgs_rms_error_tol |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00175 *val_sor_pgs_rms_error_tol |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00176 uint32_t exp_sor_pgs_rms_error_tol = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00177 exp_sor_pgs_rms_error_tol |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00178 if(exp_sor_pgs_rms_error_tol !=0)
00179 *val_sor_pgs_rms_error_tol |= ((exp_sor_pgs_rms_error_tol)-1023+127)<<23;
00180 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->sor_pgs_rms_error_tol = -this->sor_pgs_rms_error_tol;
00181 uint32_t * val_contact_surface_layer = (uint32_t*) &(this->contact_surface_layer);
00182 offset += 3;
00183 *val_contact_surface_layer = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00184 *val_contact_surface_layer |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00185 *val_contact_surface_layer |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00186 *val_contact_surface_layer |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00187 uint32_t exp_contact_surface_layer = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00188 exp_contact_surface_layer |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00189 if(exp_contact_surface_layer !=0)
00190 *val_contact_surface_layer |= ((exp_contact_surface_layer)-1023+127)<<23;
00191 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->contact_surface_layer = -this->contact_surface_layer;
00192 uint32_t * val_contact_max_correcting_vel = (uint32_t*) &(this->contact_max_correcting_vel);
00193 offset += 3;
00194 *val_contact_max_correcting_vel = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00195 *val_contact_max_correcting_vel |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00196 *val_contact_max_correcting_vel |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00197 *val_contact_max_correcting_vel |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00198 uint32_t exp_contact_max_correcting_vel = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00199 exp_contact_max_correcting_vel |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00200 if(exp_contact_max_correcting_vel !=0)
00201 *val_contact_max_correcting_vel |= ((exp_contact_max_correcting_vel)-1023+127)<<23;
00202 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->contact_max_correcting_vel = -this->contact_max_correcting_vel;
00203 uint32_t * val_cfm = (uint32_t*) &(this->cfm);
00204 offset += 3;
00205 *val_cfm = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00206 *val_cfm |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00207 *val_cfm |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00208 *val_cfm |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00209 uint32_t exp_cfm = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00210 exp_cfm |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00211 if(exp_cfm !=0)
00212 *val_cfm |= ((exp_cfm)-1023+127)<<23;
00213 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->cfm = -this->cfm;
00214 uint32_t * val_erp = (uint32_t*) &(this->erp);
00215 offset += 3;
00216 *val_erp = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00217 *val_erp |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00218 *val_erp |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00219 *val_erp |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00220 uint32_t exp_erp = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00221 exp_erp |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00222 if(exp_erp !=0)
00223 *val_erp |= ((exp_erp)-1023+127)<<23;
00224 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->erp = -this->erp;
00225 this->max_contacts = ((uint32_t) (*(inbuffer + offset)));
00226 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00227 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00228 this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00229 offset += sizeof(this->max_contacts);
00230 return offset;
00231 }
00232
00233 const char * getType(){ return "gazebo_msgs/ODEPhysics"; };
00234 const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; };
00235
00236 };
00237
00238 }
00239 #endif