Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/turtlesim/Pose.h@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_turtlesim_Pose_h
scarter1 0:020db18a476d 2 #define _ROS_turtlesim_Pose_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 turtlesim
scarter1 0:020db18a476d 10 {
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 class Pose : public ros::Msg
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14 public:
scarter1 0:020db18a476d 15 typedef float _x_type;
scarter1 0:020db18a476d 16 _x_type x;
scarter1 0:020db18a476d 17 typedef float _y_type;
scarter1 0:020db18a476d 18 _y_type y;
scarter1 0:020db18a476d 19 typedef float _theta_type;
scarter1 0:020db18a476d 20 _theta_type theta;
scarter1 0:020db18a476d 21 typedef float _linear_velocity_type;
scarter1 0:020db18a476d 22 _linear_velocity_type linear_velocity;
scarter1 0:020db18a476d 23 typedef float _angular_velocity_type;
scarter1 0:020db18a476d 24 _angular_velocity_type angular_velocity;
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 Pose():
scarter1 0:020db18a476d 27 x(0),
scarter1 0:020db18a476d 28 y(0),
scarter1 0:020db18a476d 29 theta(0),
scarter1 0:020db18a476d 30 linear_velocity(0),
scarter1 0:020db18a476d 31 angular_velocity(0)
scarter1 0:020db18a476d 32 {
scarter1 0:020db18a476d 33 }
scarter1 0:020db18a476d 34
scarter1 0:020db18a476d 35 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 36 {
scarter1 0:020db18a476d 37 int offset = 0;
scarter1 0:020db18a476d 38 union {
scarter1 0:020db18a476d 39 float real;
scarter1 0:020db18a476d 40 uint32_t base;
scarter1 0:020db18a476d 41 } u_x;
scarter1 0:020db18a476d 42 u_x.real = this->x;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 47 offset += sizeof(this->x);
scarter1 0:020db18a476d 48 union {
scarter1 0:020db18a476d 49 float real;
scarter1 0:020db18a476d 50 uint32_t base;
scarter1 0:020db18a476d 51 } u_y;
scarter1 0:020db18a476d 52 u_y.real = this->y;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 55 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 56 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 57 offset += sizeof(this->y);
scarter1 0:020db18a476d 58 union {
scarter1 0:020db18a476d 59 float real;
scarter1 0:020db18a476d 60 uint32_t base;
scarter1 0:020db18a476d 61 } u_theta;
scarter1 0:020db18a476d 62 u_theta.real = this->theta;
scarter1 0:020db18a476d 63 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 64 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 65 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 66 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 67 offset += sizeof(this->theta);
scarter1 0:020db18a476d 68 union {
scarter1 0:020db18a476d 69 float real;
scarter1 0:020db18a476d 70 uint32_t base;
scarter1 0:020db18a476d 71 } u_linear_velocity;
scarter1 0:020db18a476d 72 u_linear_velocity.real = this->linear_velocity;
scarter1 0:020db18a476d 73 *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 74 *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 75 *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 76 *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 77 offset += sizeof(this->linear_velocity);
scarter1 0:020db18a476d 78 union {
scarter1 0:020db18a476d 79 float real;
scarter1 0:020db18a476d 80 uint32_t base;
scarter1 0:020db18a476d 81 } u_angular_velocity;
scarter1 0:020db18a476d 82 u_angular_velocity.real = this->angular_velocity;
scarter1 0:020db18a476d 83 *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 84 *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 85 *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 86 *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 87 offset += sizeof(this->angular_velocity);
scarter1 0:020db18a476d 88 return offset;
scarter1 0:020db18a476d 89 }
scarter1 0:020db18a476d 90
scarter1 0:020db18a476d 91 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 92 {
scarter1 0:020db18a476d 93 int offset = 0;
scarter1 0:020db18a476d 94 union {
scarter1 0:020db18a476d 95 float real;
scarter1 0:020db18a476d 96 uint32_t base;
scarter1 0:020db18a476d 97 } u_x;
scarter1 0:020db18a476d 98 u_x.base = 0;
scarter1 0:020db18a476d 99 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 100 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 101 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 102 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 103 this->x = u_x.real;
scarter1 0:020db18a476d 104 offset += sizeof(this->x);
scarter1 0:020db18a476d 105 union {
scarter1 0:020db18a476d 106 float real;
scarter1 0:020db18a476d 107 uint32_t base;
scarter1 0:020db18a476d 108 } u_y;
scarter1 0:020db18a476d 109 u_y.base = 0;
scarter1 0:020db18a476d 110 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 111 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 112 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 113 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 114 this->y = u_y.real;
scarter1 0:020db18a476d 115 offset += sizeof(this->y);
scarter1 0:020db18a476d 116 union {
scarter1 0:020db18a476d 117 float real;
scarter1 0:020db18a476d 118 uint32_t base;
scarter1 0:020db18a476d 119 } u_theta;
scarter1 0:020db18a476d 120 u_theta.base = 0;
scarter1 0:020db18a476d 121 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 122 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 123 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 124 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 125 this->theta = u_theta.real;
scarter1 0:020db18a476d 126 offset += sizeof(this->theta);
scarter1 0:020db18a476d 127 union {
scarter1 0:020db18a476d 128 float real;
scarter1 0:020db18a476d 129 uint32_t base;
scarter1 0:020db18a476d 130 } u_linear_velocity;
scarter1 0:020db18a476d 131 u_linear_velocity.base = 0;
scarter1 0:020db18a476d 132 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 133 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 134 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 135 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 136 this->linear_velocity = u_linear_velocity.real;
scarter1 0:020db18a476d 137 offset += sizeof(this->linear_velocity);
scarter1 0:020db18a476d 138 union {
scarter1 0:020db18a476d 139 float real;
scarter1 0:020db18a476d 140 uint32_t base;
scarter1 0:020db18a476d 141 } u_angular_velocity;
scarter1 0:020db18a476d 142 u_angular_velocity.base = 0;
scarter1 0:020db18a476d 143 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 144 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 145 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 146 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 147 this->angular_velocity = u_angular_velocity.real;
scarter1 0:020db18a476d 148 offset += sizeof(this->angular_velocity);
scarter1 0:020db18a476d 149 return offset;
scarter1 0:020db18a476d 150 }
scarter1 0:020db18a476d 151
scarter1 0:020db18a476d 152 const char * getType(){ return "turtlesim/Pose"; };
scarter1 0:020db18a476d 153 const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
scarter1 0:020db18a476d 154
scarter1 0:020db18a476d 155 };
scarter1 0:020db18a476d 156
scarter1 0:020db18a476d 157 }
scarter1 0:020db18a476d 158 #endif