Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/nav_msgs/GetPlan.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_GetPlan_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_GetPlan_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 #include "geometry_msgs/PoseStamped.h"
scarter1 0:020db18a476d 8 #include "nav_msgs/Path.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace nav_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 static const char GETPLAN[] = "nav_msgs/GetPlan";
scarter1 0:020db18a476d 14
scarter1 0:020db18a476d 15 class GetPlanRequest : public ros::Msg
scarter1 0:020db18a476d 16 {
scarter1 0:020db18a476d 17 public:
scarter1 0:020db18a476d 18 typedef geometry_msgs::PoseStamped _start_type;
scarter1 0:020db18a476d 19 _start_type start;
scarter1 0:020db18a476d 20 typedef geometry_msgs::PoseStamped _goal_type;
scarter1 0:020db18a476d 21 _goal_type goal;
scarter1 0:020db18a476d 22 typedef float _tolerance_type;
scarter1 0:020db18a476d 23 _tolerance_type tolerance;
scarter1 0:020db18a476d 24
scarter1 0:020db18a476d 25 GetPlanRequest():
scarter1 0:020db18a476d 26 start(),
scarter1 0:020db18a476d 27 goal(),
scarter1 0:020db18a476d 28 tolerance(0)
scarter1 0:020db18a476d 29 {
scarter1 0:020db18a476d 30 }
scarter1 0:020db18a476d 31
scarter1 0:020db18a476d 32 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 33 {
scarter1 0:020db18a476d 34 int offset = 0;
scarter1 0:020db18a476d 35 offset += this->start.serialize(outbuffer + offset);
scarter1 0:020db18a476d 36 offset += this->goal.serialize(outbuffer + offset);
scarter1 0:020db18a476d 37 union {
scarter1 0:020db18a476d 38 float real;
scarter1 0:020db18a476d 39 uint32_t base;
scarter1 0:020db18a476d 40 } u_tolerance;
scarter1 0:020db18a476d 41 u_tolerance.real = this->tolerance;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 46 offset += sizeof(this->tolerance);
scarter1 0:020db18a476d 47 return offset;
scarter1 0:020db18a476d 48 }
scarter1 0:020db18a476d 49
scarter1 0:020db18a476d 50 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 51 {
scarter1 0:020db18a476d 52 int offset = 0;
scarter1 0:020db18a476d 53 offset += this->start.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 54 offset += this->goal.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 55 union {
scarter1 0:020db18a476d 56 float real;
scarter1 0:020db18a476d 57 uint32_t base;
scarter1 0:020db18a476d 58 } u_tolerance;
scarter1 0:020db18a476d 59 u_tolerance.base = 0;
scarter1 0:020db18a476d 60 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 61 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 62 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 63 u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 64 this->tolerance = u_tolerance.real;
scarter1 0:020db18a476d 65 offset += sizeof(this->tolerance);
scarter1 0:020db18a476d 66 return offset;
scarter1 0:020db18a476d 67 }
scarter1 0:020db18a476d 68
scarter1 0:020db18a476d 69 const char * getType(){ return GETPLAN; };
scarter1 0:020db18a476d 70 const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
scarter1 0:020db18a476d 71
scarter1 0:020db18a476d 72 };
scarter1 0:020db18a476d 73
scarter1 0:020db18a476d 74 class GetPlanResponse : public ros::Msg
scarter1 0:020db18a476d 75 {
scarter1 0:020db18a476d 76 public:
scarter1 0:020db18a476d 77 typedef nav_msgs::Path _plan_type;
scarter1 0:020db18a476d 78 _plan_type plan;
scarter1 0:020db18a476d 79
scarter1 0:020db18a476d 80 GetPlanResponse():
scarter1 0:020db18a476d 81 plan()
scarter1 0:020db18a476d 82 {
scarter1 0:020db18a476d 83 }
scarter1 0:020db18a476d 84
scarter1 0:020db18a476d 85 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 86 {
scarter1 0:020db18a476d 87 int offset = 0;
scarter1 0:020db18a476d 88 offset += this->plan.serialize(outbuffer + offset);
scarter1 0:020db18a476d 89 return offset;
scarter1 0:020db18a476d 90 }
scarter1 0:020db18a476d 91
scarter1 0:020db18a476d 92 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 93 {
scarter1 0:020db18a476d 94 int offset = 0;
scarter1 0:020db18a476d 95 offset += this->plan.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 96 return offset;
scarter1 0:020db18a476d 97 }
scarter1 0:020db18a476d 98
scarter1 0:020db18a476d 99 const char * getType(){ return GETPLAN; };
scarter1 0:020db18a476d 100 const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
scarter1 0:020db18a476d 101
scarter1 0:020db18a476d 102 };
scarter1 0:020db18a476d 103
scarter1 0:020db18a476d 104 class GetPlan {
scarter1 0:020db18a476d 105 public:
scarter1 0:020db18a476d 106 typedef GetPlanRequest Request;
scarter1 0:020db18a476d 107 typedef GetPlanResponse Response;
scarter1 0:020db18a476d 108 };
scarter1 0:020db18a476d 109
scarter1 0:020db18a476d 110 }
scarter1 0:020db18a476d 111 #endif