Diff: ros_lib/turtle_actionlib/Velocity.h

Revision:

0:020db18a476d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib/turtle_actionlib/Velocity.h	Wed Oct 30 14:59:49 2019 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_turtle_actionlib_Velocity_h
+#define _ROS_turtle_actionlib_Velocity_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class Velocity : public ros::Msg
+  {
+    public:
+      typedef float _linear_type;
+      _linear_type linear;
+      typedef float _angular_type;
+      _angular_type angular;
+
+    Velocity():
+      linear(0),
+      angular(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.real = this->linear;
+      *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.real = this->angular;
+      *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angular);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.base = 0;
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->linear = u_linear.real;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.base = 0;
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angular = u_angular.real;
+      offset += sizeof(this->angular);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/Velocity"; };
+    const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
+
+  };
+
+}
+#endif