PROJ515 - LED - ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
geometry_msgs/TwistWithCovariance.h
- Committer:
- Luka_Danilovic
- Date:
- 2019-05-14
- Revision:
- 3:7bc03f1f0d03
- Parent:
- 0:9e9b7db60fd5
File content as of revision 3:7bc03f1f0d03:
#ifndef _ROS_geometry_msgs_TwistWithCovariance_h #define _ROS_geometry_msgs_TwistWithCovariance_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/Twist.h" namespace geometry_msgs { class TwistWithCovariance : public ros::Msg { public: typedef geometry_msgs::Twist _twist_type; _twist_type twist; double covariance[36]; TwistWithCovariance(): twist(), covariance() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->twist.serialize(outbuffer + offset); for( uint32_t i = 0; i < 36; i++){ union { double real; uint64_t base; } u_covariancei; u_covariancei.real = this->covariance[i]; *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF; offset += sizeof(this->covariance[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->twist.deserialize(inbuffer + offset); for( uint32_t i = 0; i < 36; i++){ union { double real; uint64_t base; } u_covariancei; u_covariancei.base = 0; u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->covariance[i] = u_covariancei.real; offset += sizeof(this->covariance[i]); } return offset; } const char * getType(){ return "geometry_msgs/TwistWithCovariance"; }; const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; }; }; } #endif