Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/shape_msgs/Plane.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_shape_msgs_Plane_h
scarter1 0:020db18a476d 2 #define _ROS_shape_msgs_Plane_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
scarter1 0:020db18a476d 9 namespace shape_msgs
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 class Plane : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 double coef[4];
scarter1 0:020db18a476d 16
scarter1 0:020db18a476d 17 Plane():
scarter1 0:020db18a476d 18 coef()
scarter1 0:020db18a476d 19 {
scarter1 0:020db18a476d 20 }
scarter1 0:020db18a476d 21
scarter1 0:020db18a476d 22 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 23 {
scarter1 0:020db18a476d 24 int offset = 0;
scarter1 0:020db18a476d 25 for( uint32_t i = 0; i < 4; i++){
scarter1 0:020db18a476d 26 union {
scarter1 0:020db18a476d 27 double real;
scarter1 0:020db18a476d 28 uint64_t base;
scarter1 0:020db18a476d 29 } u_coefi;
scarter1 0:020db18a476d 30 u_coefi.real = this->coef[i];
scarter1 0:020db18a476d 31 *(outbuffer + offset + 0) = (u_coefi.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 32 *(outbuffer + offset + 1) = (u_coefi.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 33 *(outbuffer + offset + 2) = (u_coefi.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 34 *(outbuffer + offset + 3) = (u_coefi.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 35 *(outbuffer + offset + 4) = (u_coefi.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 36 *(outbuffer + offset + 5) = (u_coefi.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 37 *(outbuffer + offset + 6) = (u_coefi.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 38 *(outbuffer + offset + 7) = (u_coefi.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 39 offset += sizeof(this->coef[i]);
scarter1 0:020db18a476d 40 }
scarter1 0:020db18a476d 41 return offset;
scarter1 0:020db18a476d 42 }
scarter1 0:020db18a476d 43
scarter1 0:020db18a476d 44 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 45 {
scarter1 0:020db18a476d 46 int offset = 0;
scarter1 0:020db18a476d 47 for( uint32_t i = 0; i < 4; i++){
scarter1 0:020db18a476d 48 union {
scarter1 0:020db18a476d 49 double real;
scarter1 0:020db18a476d 50 uint64_t base;
scarter1 0:020db18a476d 51 } u_coefi;
scarter1 0:020db18a476d 52 u_coefi.base = 0;
scarter1 0:020db18a476d 53 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 54 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 55 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 56 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 57 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 58 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 59 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 60 u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 61 this->coef[i] = u_coefi.real;
scarter1 0:020db18a476d 62 offset += sizeof(this->coef[i]);
scarter1 0:020db18a476d 63 }
scarter1 0:020db18a476d 64 return offset;
scarter1 0:020db18a476d 65 }
scarter1 0:020db18a476d 66
scarter1 0:020db18a476d 67 const char * getType(){ return "shape_msgs/Plane"; };
scarter1 0:020db18a476d 68 const char * getMD5(){ return "2c1b92ed8f31492f8e73f6a4a44ca796"; };
scarter1 0:020db18a476d 69
scarter1 0:020db18a476d 70 };
scarter1 0:020db18a476d 71
scarter1 0:020db18a476d 72 }
scarter1 0:020db18a476d 73 #endif