Fork of ROS Serial Library
Dependencies: BufferedSerial
Diff: nav_msgs/Odometry.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/nav_msgs/Odometry.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,73 @@ +#ifndef _ROS_nav_msgs_Odometry_h +#define _ROS_nav_msgs_Odometry_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/PoseWithCovariance.h" +#include "geometry_msgs/TwistWithCovariance.h" + +namespace nav_msgs +{ + + class Odometry : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + typedef const char* _child_frame_id_type; + _child_frame_id_type child_frame_id; + typedef geometry_msgs::PoseWithCovariance _pose_type; + _pose_type pose; + typedef geometry_msgs::TwistWithCovariance _twist_type; + _twist_type twist; + + Odometry(): + header(), + child_frame_id(""), + pose(), + twist() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + uint32_t length_child_frame_id = strlen(this->child_frame_id); + varToArr(outbuffer + offset, length_child_frame_id); + offset += 4; + memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id); + offset += length_child_frame_id; + offset += this->pose.serialize(outbuffer + offset); + offset += this->twist.serialize(outbuffer + offset); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t length_child_frame_id; + arrToVar(length_child_frame_id, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_child_frame_id-1]=0; + this->child_frame_id = (char *)(inbuffer + offset-1); + offset += length_child_frame_id; + offset += this->pose.deserialize(inbuffer + offset); + offset += this->twist.deserialize(inbuffer + offset); + return offset; + } + + const char * getType(){ return "nav_msgs/Odometry"; }; + const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; }; + + }; + +} +#endif \ No newline at end of file