PROJ515 - LED - ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Diff: turtlesim/Pose.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/turtlesim/Pose.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,158 @@ +#ifndef _ROS_turtlesim_Pose_h +#define _ROS_turtlesim_Pose_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace turtlesim +{ + + class Pose : public ros::Msg + { + public: + typedef float _x_type; + _x_type x; + typedef float _y_type; + _y_type y; + typedef float _theta_type; + _theta_type theta; + typedef float _linear_velocity_type; + _linear_velocity_type linear_velocity; + typedef float _angular_velocity_type; + _angular_velocity_type angular_velocity; + + Pose(): + x(0), + y(0), + theta(0), + linear_velocity(0), + angular_velocity(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + float real; + uint32_t base; + } u_x; + u_x.real = this->x; + *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->x); + union { + float real; + uint32_t base; + } u_y; + u_y.real = this->y; + *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->y); + union { + float real; + uint32_t base; + } u_theta; + u_theta.real = this->theta; + *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->theta); + union { + float real; + uint32_t base; + } u_linear_velocity; + u_linear_velocity.real = this->linear_velocity; + *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->linear_velocity); + union { + float real; + uint32_t base; + } u_angular_velocity; + u_angular_velocity.real = this->angular_velocity; + *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->angular_velocity); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + float real; + uint32_t base; + } u_x; + u_x.base = 0; + u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->x = u_x.real; + offset += sizeof(this->x); + union { + float real; + uint32_t base; + } u_y; + u_y.base = 0; + u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->y = u_y.real; + offset += sizeof(this->y); + union { + float real; + uint32_t base; + } u_theta; + u_theta.base = 0; + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->theta = u_theta.real; + offset += sizeof(this->theta); + union { + float real; + uint32_t base; + } u_linear_velocity; + u_linear_velocity.base = 0; + u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->linear_velocity = u_linear_velocity.real; + offset += sizeof(this->linear_velocity); + union { + float real; + uint32_t base; + } u_angular_velocity; + u_angular_velocity.base = 0; + u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->angular_velocity = u_angular_velocity.real; + offset += sizeof(this->angular_velocity); + return offset; + } + + const char * getType(){ return "turtlesim/Pose"; }; + const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; }; + + }; + +} +#endif \ No newline at end of file