Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/turtlesim/TeleportRelative.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_SERVICE_TeleportRelative_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_TeleportRelative_h
scarter1 0:020db18a476d 3 #include <stdint.h>
scarter1 0:020db18a476d 4 #include <string.h>
scarter1 0:020db18a476d 5 #include <stdlib.h>
scarter1 0:020db18a476d 6 #include "ros/msg.h"
scarter1 0:020db18a476d 7
scarter1 0:020db18a476d 8 namespace turtlesim
scarter1 0:020db18a476d 9 {
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 static const char TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class TeleportRelativeRequest : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef float _linear_type;
scarter1 0:020db18a476d 17 _linear_type linear;
scarter1 0:020db18a476d 18 typedef float _angular_type;
scarter1 0:020db18a476d 19 _angular_type angular;
scarter1 0:020db18a476d 20
scarter1 0:020db18a476d 21 TeleportRelativeRequest():
scarter1 0:020db18a476d 22 linear(0),
scarter1 0:020db18a476d 23 angular(0)
scarter1 0:020db18a476d 24 {
scarter1 0:020db18a476d 25 }
scarter1 0:020db18a476d 26
scarter1 0:020db18a476d 27 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 28 {
scarter1 0:020db18a476d 29 int offset = 0;
scarter1 0:020db18a476d 30 union {
scarter1 0:020db18a476d 31 float real;
scarter1 0:020db18a476d 32 uint32_t base;
scarter1 0:020db18a476d 33 } u_linear;
scarter1 0:020db18a476d 34 u_linear.real = this->linear;
scarter1 0:020db18a476d 35 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 36 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 37 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 38 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 39 offset += sizeof(this->linear);
scarter1 0:020db18a476d 40 union {
scarter1 0:020db18a476d 41 float real;
scarter1 0:020db18a476d 42 uint32_t base;
scarter1 0:020db18a476d 43 } u_angular;
scarter1 0:020db18a476d 44 u_angular.real = this->angular;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 47 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 48 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 49 offset += sizeof(this->angular);
scarter1 0:020db18a476d 50 return offset;
scarter1 0:020db18a476d 51 }
scarter1 0:020db18a476d 52
scarter1 0:020db18a476d 53 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 54 {
scarter1 0:020db18a476d 55 int offset = 0;
scarter1 0:020db18a476d 56 union {
scarter1 0:020db18a476d 57 float real;
scarter1 0:020db18a476d 58 uint32_t base;
scarter1 0:020db18a476d 59 } u_linear;
scarter1 0:020db18a476d 60 u_linear.base = 0;
scarter1 0:020db18a476d 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 62 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 63 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 64 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 65 this->linear = u_linear.real;
scarter1 0:020db18a476d 66 offset += sizeof(this->linear);
scarter1 0:020db18a476d 67 union {
scarter1 0:020db18a476d 68 float real;
scarter1 0:020db18a476d 69 uint32_t base;
scarter1 0:020db18a476d 70 } u_angular;
scarter1 0:020db18a476d 71 u_angular.base = 0;
scarter1 0:020db18a476d 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 73 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 74 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 75 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 76 this->angular = u_angular.real;
scarter1 0:020db18a476d 77 offset += sizeof(this->angular);
scarter1 0:020db18a476d 78 return offset;
scarter1 0:020db18a476d 79 }
scarter1 0:020db18a476d 80
scarter1 0:020db18a476d 81 const char * getType(){ return TELEPORTRELATIVE; };
scarter1 0:020db18a476d 82 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
scarter1 0:020db18a476d 83
scarter1 0:020db18a476d 84 };
scarter1 0:020db18a476d 85
scarter1 0:020db18a476d 86 class TeleportRelativeResponse : public ros::Msg
scarter1 0:020db18a476d 87 {
scarter1 0:020db18a476d 88 public:
scarter1 0:020db18a476d 89
scarter1 0:020db18a476d 90 TeleportRelativeResponse()
scarter1 0:020db18a476d 91 {
scarter1 0:020db18a476d 92 }
scarter1 0:020db18a476d 93
scarter1 0:020db18a476d 94 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 95 {
scarter1 0:020db18a476d 96 int offset = 0;
scarter1 0:020db18a476d 97 return offset;
scarter1 0:020db18a476d 98 }
scarter1 0:020db18a476d 99
scarter1 0:020db18a476d 100 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 101 {
scarter1 0:020db18a476d 102 int offset = 0;
scarter1 0:020db18a476d 103 return offset;
scarter1 0:020db18a476d 104 }
scarter1 0:020db18a476d 105
scarter1 0:020db18a476d 106 const char * getType(){ return TELEPORTRELATIVE; };
scarter1 0:020db18a476d 107 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
scarter1 0:020db18a476d 108
scarter1 0:020db18a476d 109 };
scarter1 0:020db18a476d 110
scarter1 0:020db18a476d 111 class TeleportRelative {
scarter1 0:020db18a476d 112 public:
scarter1 0:020db18a476d 113 typedef TeleportRelativeRequest Request;
scarter1 0:020db18a476d 114 typedef TeleportRelativeResponse Response;
scarter1 0:020db18a476d 115 };
scarter1 0:020db18a476d 116
scarter1 0:020db18a476d 117 }
scarter1 0:020db18a476d 118 #endif