ros melodic library with custom message
Dependents: Robot_team1_QEI_Douglas Robot_team1
ros_lib/nav_msgs/Path.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
scarter1 | 0:020db18a476d | 1 | #ifndef _ROS_nav_msgs_Path_h |
scarter1 | 0:020db18a476d | 2 | #define _ROS_nav_msgs_Path_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/PoseStamped.h" |
scarter1 | 0:020db18a476d | 10 | |
scarter1 | 0:020db18a476d | 11 | namespace nav_msgs |
scarter1 | 0:020db18a476d | 12 | { |
scarter1 | 0:020db18a476d | 13 | |
scarter1 | 0:020db18a476d | 14 | class Path : public ros::Msg |
scarter1 | 0:020db18a476d | 15 | { |
scarter1 | 0:020db18a476d | 16 | public: |
scarter1 | 0:020db18a476d | 17 | typedef std_msgs::Header _header_type; |
scarter1 | 0:020db18a476d | 18 | _header_type header; |
scarter1 | 0:020db18a476d | 19 | uint32_t poses_length; |
scarter1 | 0:020db18a476d | 20 | typedef geometry_msgs::PoseStamped _poses_type; |
scarter1 | 0:020db18a476d | 21 | _poses_type st_poses; |
scarter1 | 0:020db18a476d | 22 | _poses_type * poses; |
scarter1 | 0:020db18a476d | 23 | |
scarter1 | 0:020db18a476d | 24 | Path(): |
scarter1 | 0:020db18a476d | 25 | header(), |
scarter1 | 0:020db18a476d | 26 | poses_length(0), poses(NULL) |
scarter1 | 0:020db18a476d | 27 | { |
scarter1 | 0:020db18a476d | 28 | } |
scarter1 | 0:020db18a476d | 29 | |
scarter1 | 0:020db18a476d | 30 | virtual int serialize(unsigned char *outbuffer) const |
scarter1 | 0:020db18a476d | 31 | { |
scarter1 | 0:020db18a476d | 32 | int offset = 0; |
scarter1 | 0:020db18a476d | 33 | offset += this->header.serialize(outbuffer + offset); |
scarter1 | 0:020db18a476d | 34 | *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF; |
scarter1 | 0:020db18a476d | 35 | *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF; |
scarter1 | 0:020db18a476d | 36 | *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF; |
scarter1 | 0:020db18a476d | 37 | *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF; |
scarter1 | 0:020db18a476d | 38 | offset += sizeof(this->poses_length); |
scarter1 | 0:020db18a476d | 39 | for( uint32_t i = 0; i < poses_length; i++){ |
scarter1 | 0:020db18a476d | 40 | offset += this->poses[i].serialize(outbuffer + offset); |
scarter1 | 0:020db18a476d | 41 | } |
scarter1 | 0:020db18a476d | 42 | return offset; |
scarter1 | 0:020db18a476d | 43 | } |
scarter1 | 0:020db18a476d | 44 | |
scarter1 | 0:020db18a476d | 45 | virtual int deserialize(unsigned char *inbuffer) |
scarter1 | 0:020db18a476d | 46 | { |
scarter1 | 0:020db18a476d | 47 | int offset = 0; |
scarter1 | 0:020db18a476d | 48 | offset += this->header.deserialize(inbuffer + offset); |
scarter1 | 0:020db18a476d | 49 | uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); |
scarter1 | 0:020db18a476d | 50 | poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
scarter1 | 0:020db18a476d | 51 | poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
scarter1 | 0:020db18a476d | 52 | poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
scarter1 | 0:020db18a476d | 53 | offset += sizeof(this->poses_length); |
scarter1 | 0:020db18a476d | 54 | if(poses_lengthT > poses_length) |
scarter1 | 0:020db18a476d | 55 | this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped)); |
scarter1 | 0:020db18a476d | 56 | poses_length = poses_lengthT; |
scarter1 | 0:020db18a476d | 57 | for( uint32_t i = 0; i < poses_length; i++){ |
scarter1 | 0:020db18a476d | 58 | offset += this->st_poses.deserialize(inbuffer + offset); |
scarter1 | 0:020db18a476d | 59 | memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped)); |
scarter1 | 0:020db18a476d | 60 | } |
scarter1 | 0:020db18a476d | 61 | return offset; |
scarter1 | 0:020db18a476d | 62 | } |
scarter1 | 0:020db18a476d | 63 | |
scarter1 | 0:020db18a476d | 64 | const char * getType(){ return "nav_msgs/Path"; }; |
scarter1 | 0:020db18a476d | 65 | const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; }; |
scarter1 | 0:020db18a476d | 66 | |
scarter1 | 0:020db18a476d | 67 | }; |
scarter1 | 0:020db18a476d | 68 | |
scarter1 | 0:020db18a476d | 69 | } |
scarter1 | 0:020db18a476d | 70 | #endif |