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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/geometry_msgs/PoseWithCovariance.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_geometry_msgs_PoseWithCovariance_h
scarter1 0:020db18a476d 2 #define _ROS_geometry_msgs_PoseWithCovariance_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 #include "geometry_msgs/Pose.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace geometry_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class PoseWithCovariance : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef geometry_msgs::Pose _pose_type;
scarter1 0:020db18a476d 17 _pose_type pose;
scarter1 0:020db18a476d 18 double covariance[36];
scarter1 0:020db18a476d 19
scarter1 0:020db18a476d 20 PoseWithCovariance():
scarter1 0:020db18a476d 21 pose(),
scarter1 0:020db18a476d 22 covariance()
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 offset += this->pose.serialize(outbuffer + offset);
scarter1 0:020db18a476d 30 for( uint32_t i = 0; i < 36; i++){
scarter1 0:020db18a476d 31 union {
scarter1 0:020db18a476d 32 double real;
scarter1 0:020db18a476d 33 uint64_t base;
scarter1 0:020db18a476d 34 } u_covariancei;
scarter1 0:020db18a476d 35 u_covariancei.real = this->covariance[i];
scarter1 0:020db18a476d 36 *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 37 *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 38 *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 39 *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 44 offset += sizeof(this->covariance[i]);
scarter1 0:020db18a476d 45 }
scarter1 0:020db18a476d 46 return offset;
scarter1 0:020db18a476d 47 }
scarter1 0:020db18a476d 48
scarter1 0:020db18a476d 49 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 50 {
scarter1 0:020db18a476d 51 int offset = 0;
scarter1 0:020db18a476d 52 offset += this->pose.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 53 for( uint32_t i = 0; i < 36; i++){
scarter1 0:020db18a476d 54 union {
scarter1 0:020db18a476d 55 double real;
scarter1 0:020db18a476d 56 uint64_t base;
scarter1 0:020db18a476d 57 } u_covariancei;
scarter1 0:020db18a476d 58 u_covariancei.base = 0;
scarter1 0:020db18a476d 59 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 60 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 61 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 62 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 63 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 64 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 65 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 66 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 67 this->covariance[i] = u_covariancei.real;
scarter1 0:020db18a476d 68 offset += sizeof(this->covariance[i]);
scarter1 0:020db18a476d 69 }
scarter1 0:020db18a476d 70 return offset;
scarter1 0:020db18a476d 71 }
scarter1 0:020db18a476d 72
scarter1 0:020db18a476d 73 const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
scarter1 0:020db18a476d 74 const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
scarter1 0:020db18a476d 75
scarter1 0:020db18a476d 76 };
scarter1 0:020db18a476d 77
scarter1 0:020db18a476d 78 }
scarter1 0:020db18a476d 79 #endif