Odometry.h

00001 #ifndef _ROS_nav_msgs_Odometry_h
00002 #define _ROS_nav_msgs_Odometry_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/PoseWithCovariance.h"
00010 #include "geometry_msgs/TwistWithCovariance.h"
00011 
00012 namespace nav_msgs
00013 {
00014 
00015   class Odometry : public ros::Msg
00016   {
00017     public:
00018       typedef std_msgs::Header _header_type;
00019       _header_type header;
00020       typedef const char* _child_frame_id_type;
00021       _child_frame_id_type child_frame_id;
00022       typedef geometry_msgs::PoseWithCovariance _pose_type;
00023       _pose_type pose;
00024       typedef geometry_msgs::TwistWithCovariance _twist_type;
00025       _twist_type twist;
00026 
00027     Odometry():
00028       header(),
00029       child_frame_id(""),
00030       pose(),
00031       twist()
00032     {
00033     }
00034 
00035     virtual int serialize(unsigned char *outbuffer) const
00036     {
00037       int offset = 0;
00038       offset += this->header.serialize(outbuffer + offset);
00039       uint32_t length_child_frame_id = strlen(this->child_frame_id);
00040       varToArr(outbuffer + offset, length_child_frame_id);
00041       offset += 4;
00042       memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
00043       offset += length_child_frame_id;
00044       offset += this->pose.serialize(outbuffer + offset);
00045       offset += this->twist.serialize(outbuffer + offset);
00046       return offset;
00047     }
00048 
00049     virtual int deserialize(unsigned char *inbuffer)
00050     {
00051       int offset = 0;
00052       offset += this->header.deserialize(inbuffer + offset);
00053       uint32_t length_child_frame_id;
00054       arrToVar(length_child_frame_id, (inbuffer + offset));
00055       offset += 4;
00056       for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
00057           inbuffer[k-1]=inbuffer[k];
00058       }
00059       inbuffer[offset+length_child_frame_id-1]=0;
00060       this->child_frame_id = (char *)(inbuffer + offset-1);
00061       offset += length_child_frame_id;
00062       offset += this->pose.deserialize(inbuffer + offset);
00063       offset += this->twist.deserialize(inbuffer + offset);
00064      return offset;
00065     }
00066 
00067     const char * getType(){ return "nav_msgs/Odometry"; };
00068     const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
00069 
00070   };
00071 
00072 }
00073 #endif