Robotic Team 1 / ros_lib_indigo

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Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

nav_msgs/Path.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_nav_msgs_Path_h
garyservin 0:fd24f7ca9688 2 #define _ROS_nav_msgs_Path_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/PoseStamped.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace nav_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class Path : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 uint8_t poses_length;
garyservin 0:fd24f7ca9688 19 geometry_msgs::PoseStamped st_poses;
garyservin 0:fd24f7ca9688 20 geometry_msgs::PoseStamped * poses;
garyservin 0:fd24f7ca9688 21
garyservin 0:fd24f7ca9688 22 Path():
garyservin 0:fd24f7ca9688 23 header(),
garyservin 0:fd24f7ca9688 24 poses_length(0), poses(NULL)
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 }
garyservin 0:fd24f7ca9688 27
garyservin 0:fd24f7ca9688 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 int offset = 0;
garyservin 0:fd24f7ca9688 31 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset++) = poses_length;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 36 for( uint8_t i = 0; i < poses_length; i++){
garyservin 0:fd24f7ca9688 37 offset += this->poses[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 38 }
garyservin 0:fd24f7ca9688 39 return offset;
garyservin 0:fd24f7ca9688 40 }
garyservin 0:fd24f7ca9688 41
garyservin 0:fd24f7ca9688 42 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 43 {
garyservin 0:fd24f7ca9688 44 int offset = 0;
garyservin 0:fd24f7ca9688 45 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 46 uint8_t poses_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 47 if(poses_lengthT > poses_length)
garyservin 0:fd24f7ca9688 48 this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped));
garyservin 0:fd24f7ca9688 49 offset += 3;
garyservin 0:fd24f7ca9688 50 poses_length = poses_lengthT;
garyservin 0:fd24f7ca9688 51 for( uint8_t i = 0; i < poses_length; i++){
garyservin 0:fd24f7ca9688 52 offset += this->st_poses.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 53 memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped));
garyservin 0:fd24f7ca9688 54 }
garyservin 0:fd24f7ca9688 55 return offset;
garyservin 0:fd24f7ca9688 56 }
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 const char * getType(){ return "nav_msgs/Path"; };
garyservin 0:fd24f7ca9688 59 const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; };
garyservin 0:fd24f7ca9688 60
garyservin 0:fd24f7ca9688 61 };
garyservin 0:fd24f7ca9688 62
garyservin 0:fd24f7ca9688 63 }
garyservin 0:fd24f7ca9688 64 #endif