Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/nav_msgs/Odometry.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_nav_msgs_Odometry_h
scarter1 0:020db18a476d 2 #define _ROS_nav_msgs_Odometry_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8 #include "std_msgs/Header.h"
scarter1 0:020db18a476d 9 #include "geometry_msgs/PoseWithCovariance.h"
scarter1 0:020db18a476d 10 #include "geometry_msgs/TwistWithCovariance.h"
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 namespace nav_msgs
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14
scarter1 0:020db18a476d 15 class Odometry : public ros::Msg
scarter1 0:020db18a476d 16 {
scarter1 0:020db18a476d 17 public:
scarter1 0:020db18a476d 18 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 19 _header_type header;
scarter1 0:020db18a476d 20 typedef const char* _child_frame_id_type;
scarter1 0:020db18a476d 21 _child_frame_id_type child_frame_id;
scarter1 0:020db18a476d 22 typedef geometry_msgs::PoseWithCovariance _pose_type;
scarter1 0:020db18a476d 23 _pose_type pose;
scarter1 0:020db18a476d 24 typedef geometry_msgs::TwistWithCovariance _twist_type;
scarter1 0:020db18a476d 25 _twist_type twist;
scarter1 0:020db18a476d 26
scarter1 0:020db18a476d 27 Odometry():
scarter1 0:020db18a476d 28 header(),
scarter1 0:020db18a476d 29 child_frame_id(""),
scarter1 0:020db18a476d 30 pose(),
scarter1 0:020db18a476d 31 twist()
scarter1 0:020db18a476d 32 {
scarter1 0:020db18a476d 33 }
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 36 {
scarter1 0:020db18a476d 37 int offset = 0;
scarter1 0:020db18a476d 38 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 39 uint32_t length_child_frame_id = strlen(this->child_frame_id);
scarter1 0:020db18a476d 40 varToArr(outbuffer + offset, length_child_frame_id);
scarter1 0:020db18a476d 41 offset += 4;
scarter1 0:020db18a476d 42 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
scarter1 0:020db18a476d 43 offset += length_child_frame_id;
scarter1 0:020db18a476d 44 offset += this->pose.serialize(outbuffer + offset);
scarter1 0:020db18a476d 45 offset += this->twist.serialize(outbuffer + offset);
scarter1 0:020db18a476d 46 return offset;
scarter1 0:020db18a476d 47 }
scarter1 0:020db18a476d 48
scarter1 0:020db18a476d 49 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 50 {
scarter1 0:020db18a476d 51 int offset = 0;
scarter1 0:020db18a476d 52 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 53 uint32_t length_child_frame_id;
scarter1 0:020db18a476d 54 arrToVar(length_child_frame_id, (inbuffer + offset));
scarter1 0:020db18a476d 55 offset += 4;
scarter1 0:020db18a476d 56 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
scarter1 0:020db18a476d 57 inbuffer[k-1]=inbuffer[k];
scarter1 0:020db18a476d 58 }
scarter1 0:020db18a476d 59 inbuffer[offset+length_child_frame_id-1]=0;
scarter1 0:020db18a476d 60 this->child_frame_id = (char *)(inbuffer + offset-1);
scarter1 0:020db18a476d 61 offset += length_child_frame_id;
scarter1 0:020db18a476d 62 offset += this->pose.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 63 offset += this->twist.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 64 return offset;
scarter1 0:020db18a476d 65 }
scarter1 0:020db18a476d 66
scarter1 0:020db18a476d 67 const char * getType(){ return "nav_msgs/Odometry"; };
scarter1 0:020db18a476d 68 const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
scarter1 0:020db18a476d 69
scarter1 0:020db18a476d 70 };
scarter1 0:020db18a476d 71
scarter1 0:020db18a476d 72 }
scarter1 0:020db18a476d 73 #endif