Velocity.h

00001 #ifndef _ROS_turtle_actionlib_Velocity_h
00002 #define _ROS_turtle_actionlib_Velocity_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace turtle_actionlib
00010 {
00011 
00012   class Velocity : public ros::Msg
00013   {
00014     public:
00015       typedef float _linear_type;
00016       _linear_type linear;
00017       typedef float _angular_type;
00018       _angular_type angular;
00019 
00020     Velocity():
00021       linear(0),
00022       angular(0)
00023     {
00024     }
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       union {
00030         float real;
00031         uint32_t base;
00032       } u_linear;
00033       u_linear.real = this->linear;
00034       *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
00035       *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
00036       *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
00037       *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
00038       offset += sizeof(this->linear);
00039       union {
00040         float real;
00041         uint32_t base;
00042       } u_angular;
00043       u_angular.real = this->angular;
00044       *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
00045       *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
00046       *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
00047       *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
00048       offset += sizeof(this->angular);
00049       return offset;
00050     }
00051 
00052     virtual int deserialize(unsigned char *inbuffer)
00053     {
00054       int offset = 0;
00055       union {
00056         float real;
00057         uint32_t base;
00058       } u_linear;
00059       u_linear.base = 0;
00060       u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00061       u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00062       u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00063       u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00064       this->linear = u_linear.real;
00065       offset += sizeof(this->linear);
00066       union {
00067         float real;
00068         uint32_t base;
00069       } u_angular;
00070       u_angular.base = 0;
00071       u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00072       u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00073       u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00074       u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00075       this->angular = u_angular.real;
00076       offset += sizeof(this->angular);
00077      return offset;
00078     }
00079 
00080     const char * getType(){ return "turtle_actionlib/Velocity"; };
00081     const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
00082 
00083   };
00084 
00085 }
00086 #endif