Jesi Miranda
/
ros_lib_kinetic_jesi
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Pose.h
00001 #ifndef _ROS_turtlesim_Pose_h 00002 #define _ROS_turtlesim_Pose_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace turtlesim 00010 { 00011 00012 class Pose : public ros::Msg 00013 { 00014 public: 00015 typedef float _x_type; 00016 _x_type x; 00017 typedef float _y_type; 00018 _y_type y; 00019 typedef float _theta_type; 00020 _theta_type theta; 00021 typedef float _linear_velocity_type; 00022 _linear_velocity_type linear_velocity; 00023 typedef float _angular_velocity_type; 00024 _angular_velocity_type angular_velocity; 00025 00026 Pose(): 00027 x(0), 00028 y(0), 00029 theta(0), 00030 linear_velocity(0), 00031 angular_velocity(0) 00032 { 00033 } 00034 00035 virtual int serialize(unsigned char *outbuffer) const 00036 { 00037 int offset = 0; 00038 union { 00039 float real; 00040 uint32_t base; 00041 } u_x; 00042 u_x.real = this->x; 00043 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; 00044 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; 00045 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; 00046 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; 00047 offset += sizeof(this->x); 00048 union { 00049 float real; 00050 uint32_t base; 00051 } u_y; 00052 u_y.real = this->y; 00053 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; 00054 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; 00055 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; 00056 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; 00057 offset += sizeof(this->y); 00058 union { 00059 float real; 00060 uint32_t base; 00061 } u_theta; 00062 u_theta.real = this->theta; 00063 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF; 00064 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF; 00065 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF; 00066 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF; 00067 offset += sizeof(this->theta); 00068 union { 00069 float real; 00070 uint32_t base; 00071 } u_linear_velocity; 00072 u_linear_velocity.real = this->linear_velocity; 00073 *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF; 00074 *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF; 00075 *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF; 00076 *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF; 00077 offset += sizeof(this->linear_velocity); 00078 union { 00079 float real; 00080 uint32_t base; 00081 } u_angular_velocity; 00082 u_angular_velocity.real = this->angular_velocity; 00083 *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF; 00084 *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF; 00085 *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF; 00086 *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF; 00087 offset += sizeof(this->angular_velocity); 00088 return offset; 00089 } 00090 00091 virtual int deserialize(unsigned char *inbuffer) 00092 { 00093 int offset = 0; 00094 union { 00095 float real; 00096 uint32_t base; 00097 } u_x; 00098 u_x.base = 0; 00099 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00100 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00101 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00102 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00103 this->x = u_x.real; 00104 offset += sizeof(this->x); 00105 union { 00106 float real; 00107 uint32_t base; 00108 } u_y; 00109 u_y.base = 0; 00110 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00111 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00112 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00113 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00114 this->y = u_y.real; 00115 offset += sizeof(this->y); 00116 union { 00117 float real; 00118 uint32_t base; 00119 } u_theta; 00120 u_theta.base = 0; 00121 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00122 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00123 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00124 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00125 this->theta = u_theta.real; 00126 offset += sizeof(this->theta); 00127 union { 00128 float real; 00129 uint32_t base; 00130 } u_linear_velocity; 00131 u_linear_velocity.base = 0; 00132 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00133 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00134 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00135 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00136 this->linear_velocity = u_linear_velocity.real; 00137 offset += sizeof(this->linear_velocity); 00138 union { 00139 float real; 00140 uint32_t base; 00141 } u_angular_velocity; 00142 u_angular_velocity.base = 0; 00143 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00144 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00145 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00146 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00147 this->angular_velocity = u_angular_velocity.real; 00148 offset += sizeof(this->angular_velocity); 00149 return offset; 00150 } 00151 00152 const char * getType(){ return "turtlesim/Pose"; }; 00153 const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; }; 00154 00155 }; 00156 00157 } 00158 #endif
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