Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

turtlesim/Pose.h@3:d7bea56ad88b, 2020-03-30 (annotated)

Committer:
Anaph
Date:
Mon Mar 30 22:15:01 2020 +0000
Revision:
3:d7bea56ad88b
Parent:
0:9e9b7db60fd5 
No description

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_turtlesim_Pose_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_turtlesim_Pose_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace turtlesim
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class Pose : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef float _x_type;
garyservin 0:9e9b7db60fd5 16 _x_type x;
garyservin 0:9e9b7db60fd5 17 typedef float _y_type;
garyservin 0:9e9b7db60fd5 18 _y_type y;
garyservin 0:9e9b7db60fd5 19 typedef float _theta_type;
garyservin 0:9e9b7db60fd5 20 _theta_type theta;
garyservin 0:9e9b7db60fd5 21 typedef float _linear_velocity_type;
garyservin 0:9e9b7db60fd5 22 _linear_velocity_type linear_velocity;
garyservin 0:9e9b7db60fd5 23 typedef float _angular_velocity_type;
garyservin 0:9e9b7db60fd5 24 _angular_velocity_type angular_velocity;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 Pose():
garyservin 0:9e9b7db60fd5 27 x(0),
garyservin 0:9e9b7db60fd5 28 y(0),
garyservin 0:9e9b7db60fd5 29 theta(0),
garyservin 0:9e9b7db60fd5 30 linear_velocity(0),
garyservin 0:9e9b7db60fd5 31 angular_velocity(0)
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 union {
garyservin 0:9e9b7db60fd5 39 float real;
garyservin 0:9e9b7db60fd5 40 uint32_t base;
garyservin 0:9e9b7db60fd5 41 } u_x;
garyservin 0:9e9b7db60fd5 42 u_x.real = this->x;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 48 union {
garyservin 0:9e9b7db60fd5 49 float real;
garyservin 0:9e9b7db60fd5 50 uint32_t base;
garyservin 0:9e9b7db60fd5 51 } u_y;
garyservin 0:9e9b7db60fd5 52 u_y.real = this->y;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 58 union {
garyservin 0:9e9b7db60fd5 59 float real;
garyservin 0:9e9b7db60fd5 60 uint32_t base;
garyservin 0:9e9b7db60fd5 61 } u_theta;
garyservin 0:9e9b7db60fd5 62 u_theta.real = this->theta;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 68 union {
garyservin 0:9e9b7db60fd5 69 float real;
garyservin 0:9e9b7db60fd5 70 uint32_t base;
garyservin 0:9e9b7db60fd5 71 } u_linear_velocity;
garyservin 0:9e9b7db60fd5 72 u_linear_velocity.real = this->linear_velocity;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->linear_velocity);
garyservin 0:9e9b7db60fd5 78 union {
garyservin 0:9e9b7db60fd5 79 float real;
garyservin 0:9e9b7db60fd5 80 uint32_t base;
garyservin 0:9e9b7db60fd5 81 } u_angular_velocity;
garyservin 0:9e9b7db60fd5 82 u_angular_velocity.real = this->angular_velocity;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->angular_velocity);
garyservin 0:9e9b7db60fd5 88 return offset;
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 92 {
garyservin 0:9e9b7db60fd5 93 int offset = 0;
garyservin 0:9e9b7db60fd5 94 union {
garyservin 0:9e9b7db60fd5 95 float real;
garyservin 0:9e9b7db60fd5 96 uint32_t base;
garyservin 0:9e9b7db60fd5 97 } u_x;
garyservin 0:9e9b7db60fd5 98 u_x.base = 0;
garyservin 0:9e9b7db60fd5 99 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 100 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 101 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 102 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 103 this->x = u_x.real;
garyservin 0:9e9b7db60fd5 104 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 105 union {
garyservin 0:9e9b7db60fd5 106 float real;
garyservin 0:9e9b7db60fd5 107 uint32_t base;
garyservin 0:9e9b7db60fd5 108 } u_y;
garyservin 0:9e9b7db60fd5 109 u_y.base = 0;
garyservin 0:9e9b7db60fd5 110 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 111 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 112 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 113 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 114 this->y = u_y.real;
garyservin 0:9e9b7db60fd5 115 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 116 union {
garyservin 0:9e9b7db60fd5 117 float real;
garyservin 0:9e9b7db60fd5 118 uint32_t base;
garyservin 0:9e9b7db60fd5 119 } u_theta;
garyservin 0:9e9b7db60fd5 120 u_theta.base = 0;
garyservin 0:9e9b7db60fd5 121 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 122 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 123 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 124 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 125 this->theta = u_theta.real;
garyservin 0:9e9b7db60fd5 126 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 127 union {
garyservin 0:9e9b7db60fd5 128 float real;
garyservin 0:9e9b7db60fd5 129 uint32_t base;
garyservin 0:9e9b7db60fd5 130 } u_linear_velocity;
garyservin 0:9e9b7db60fd5 131 u_linear_velocity.base = 0;
garyservin 0:9e9b7db60fd5 132 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 133 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 134 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 135 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 136 this->linear_velocity = u_linear_velocity.real;
garyservin 0:9e9b7db60fd5 137 offset += sizeof(this->linear_velocity);
garyservin 0:9e9b7db60fd5 138 union {
garyservin 0:9e9b7db60fd5 139 float real;
garyservin 0:9e9b7db60fd5 140 uint32_t base;
garyservin 0:9e9b7db60fd5 141 } u_angular_velocity;
garyservin 0:9e9b7db60fd5 142 u_angular_velocity.base = 0;
garyservin 0:9e9b7db60fd5 143 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 144 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 145 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 146 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 147 this->angular_velocity = u_angular_velocity.real;
garyservin 0:9e9b7db60fd5 148 offset += sizeof(this->angular_velocity);
garyservin 0:9e9b7db60fd5 149 return offset;
garyservin 0:9e9b7db60fd5 150 }
garyservin 0:9e9b7db60fd5 151
garyservin 0:9e9b7db60fd5 152 const char * getType(){ return "turtlesim/Pose"; };
garyservin 0:9e9b7db60fd5 153 const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
garyservin 0:9e9b7db60fd5 154
garyservin 0:9e9b7db60fd5 155 };
garyservin 0:9e9b7db60fd5 156
garyservin 0:9e9b7db60fd5 157 }
garyservin 0:9e9b7db60fd5 158 #endif