Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/turtle_actionlib/Velocity.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_turtle_actionlib_Velocity_h
scarter1 0:020db18a476d 2 #define _ROS_turtle_actionlib_Velocity_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 turtle_actionlib
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 class Velocity : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 typedef float _linear_type;
scarter1 0:020db18a476d 16 _linear_type linear;
scarter1 0:020db18a476d 17 typedef float _angular_type;
scarter1 0:020db18a476d 18 _angular_type angular;
scarter1 0:020db18a476d 19
scarter1 0:020db18a476d 20 Velocity():
scarter1 0:020db18a476d 21 linear(0),
scarter1 0:020db18a476d 22 angular(0)
scarter1 0:020db18a476d 23 {
scarter1 0:020db18a476d 24 }
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 int offset = 0;
scarter1 0:020db18a476d 29 union {
scarter1 0:020db18a476d 30 float real;
scarter1 0:020db18a476d 31 uint32_t base;
scarter1 0:020db18a476d 32 } u_linear;
scarter1 0:020db18a476d 33 u_linear.real = this->linear;
scarter1 0:020db18a476d 34 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 35 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 36 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 37 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 38 offset += sizeof(this->linear);
scarter1 0:020db18a476d 39 union {
scarter1 0:020db18a476d 40 float real;
scarter1 0:020db18a476d 41 uint32_t base;
scarter1 0:020db18a476d 42 } u_angular;
scarter1 0:020db18a476d 43 u_angular.real = this->angular;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 47 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 48 offset += sizeof(this->angular);
scarter1 0:020db18a476d 49 return offset;
scarter1 0:020db18a476d 50 }
scarter1 0:020db18a476d 51
scarter1 0:020db18a476d 52 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 53 {
scarter1 0:020db18a476d 54 int offset = 0;
scarter1 0:020db18a476d 55 union {
scarter1 0:020db18a476d 56 float real;
scarter1 0:020db18a476d 57 uint32_t base;
scarter1 0:020db18a476d 58 } u_linear;
scarter1 0:020db18a476d 59 u_linear.base = 0;
scarter1 0:020db18a476d 60 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 62 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 63 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 64 this->linear = u_linear.real;
scarter1 0:020db18a476d 65 offset += sizeof(this->linear);
scarter1 0:020db18a476d 66 union {
scarter1 0:020db18a476d 67 float real;
scarter1 0:020db18a476d 68 uint32_t base;
scarter1 0:020db18a476d 69 } u_angular;
scarter1 0:020db18a476d 70 u_angular.base = 0;
scarter1 0:020db18a476d 71 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 73 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 74 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 75 this->angular = u_angular.real;
scarter1 0:020db18a476d 76 offset += sizeof(this->angular);
scarter1 0:020db18a476d 77 return offset;
scarter1 0:020db18a476d 78 }
scarter1 0:020db18a476d 79
scarter1 0:020db18a476d 80 const char * getType(){ return "turtle_actionlib/Velocity"; };
scarter1 0:020db18a476d 81 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
scarter1 0:020db18a476d 82
scarter1 0:020db18a476d 83 };
scarter1 0:020db18a476d 84
scarter1 0:020db18a476d 85 }
scarter1 0:020db18a476d 86 #endif