Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

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

Committer:
Anaph
Date:
Mon Mar 30 22:15:01 2020 +0000
Revision:
3:d7bea56ad88b
Parent:
0:9e9b7db60fd5 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_SERVICE_TeleportRelative_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_TeleportRelative_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7
garyservin 0:9e9b7db60fd5 8 namespace turtlesim
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class TeleportRelativeRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef float _linear_type;
garyservin 0:9e9b7db60fd5 17 _linear_type linear;
garyservin 0:9e9b7db60fd5 18 typedef float _angular_type;
garyservin 0:9e9b7db60fd5 19 _angular_type angular;
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 TeleportRelativeRequest():
garyservin 0:9e9b7db60fd5 22 linear(0),
garyservin 0:9e9b7db60fd5 23 angular(0)
garyservin 0:9e9b7db60fd5 24 {
garyservin 0:9e9b7db60fd5 25 }
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 28 {
garyservin 0:9e9b7db60fd5 29 int offset = 0;
garyservin 0:9e9b7db60fd5 30 union {
garyservin 0:9e9b7db60fd5 31 float real;
garyservin 0:9e9b7db60fd5 32 uint32_t base;
garyservin 0:9e9b7db60fd5 33 } u_linear;
garyservin 0:9e9b7db60fd5 34 u_linear.real = this->linear;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 offset += sizeof(this->linear);
garyservin 0:9e9b7db60fd5 40 union {
garyservin 0:9e9b7db60fd5 41 float real;
garyservin 0:9e9b7db60fd5 42 uint32_t base;
garyservin 0:9e9b7db60fd5 43 } u_angular;
garyservin 0:9e9b7db60fd5 44 u_angular.real = this->angular;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->angular);
garyservin 0:9e9b7db60fd5 50 return offset;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 union {
garyservin 0:9e9b7db60fd5 57 float real;
garyservin 0:9e9b7db60fd5 58 uint32_t base;
garyservin 0:9e9b7db60fd5 59 } u_linear;
garyservin 0:9e9b7db60fd5 60 u_linear.base = 0;
garyservin 0:9e9b7db60fd5 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 62 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 63 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 64 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 65 this->linear = u_linear.real;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->linear);
garyservin 0:9e9b7db60fd5 67 union {
garyservin 0:9e9b7db60fd5 68 float real;
garyservin 0:9e9b7db60fd5 69 uint32_t base;
garyservin 0:9e9b7db60fd5 70 } u_angular;
garyservin 0:9e9b7db60fd5 71 u_angular.base = 0;
garyservin 0:9e9b7db60fd5 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 73 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 74 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 75 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 76 this->angular = u_angular.real;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->angular);
garyservin 0:9e9b7db60fd5 78 return offset;
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80
garyservin 0:9e9b7db60fd5 81 const char * getType(){ return TELEPORTRELATIVE; };
garyservin 0:9e9b7db60fd5 82 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 };
garyservin 0:9e9b7db60fd5 85
garyservin 0:9e9b7db60fd5 86 class TeleportRelativeResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 87 {
garyservin 0:9e9b7db60fd5 88 public:
garyservin 0:9e9b7db60fd5 89
garyservin 0:9e9b7db60fd5 90 TeleportRelativeResponse()
garyservin 0:9e9b7db60fd5 91 {
garyservin 0:9e9b7db60fd5 92 }
garyservin 0:9e9b7db60fd5 93
garyservin 0:9e9b7db60fd5 94 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 95 {
garyservin 0:9e9b7db60fd5 96 int offset = 0;
garyservin 0:9e9b7db60fd5 97 return offset;
garyservin 0:9e9b7db60fd5 98 }
garyservin 0:9e9b7db60fd5 99
garyservin 0:9e9b7db60fd5 100 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 101 {
garyservin 0:9e9b7db60fd5 102 int offset = 0;
garyservin 0:9e9b7db60fd5 103 return offset;
garyservin 0:9e9b7db60fd5 104 }
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 const char * getType(){ return TELEPORTRELATIVE; };
garyservin 0:9e9b7db60fd5 107 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 108
garyservin 0:9e9b7db60fd5 109 };
garyservin 0:9e9b7db60fd5 110
garyservin 0:9e9b7db60fd5 111 class TeleportRelative {
garyservin 0:9e9b7db60fd5 112 public:
garyservin 0:9e9b7db60fd5 113 typedef TeleportRelativeRequest Request;
garyservin 0:9e9b7db60fd5 114 typedef TeleportRelativeResponse Response;
garyservin 0:9e9b7db60fd5 115 };
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 #endif