PROJ515 - LED - ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
nav_msgs/Odometry.h
- Committer:
- Luka_Danilovic
- Date:
- 2019-05-14
- Revision:
- 3:7bc03f1f0d03
- Parent:
- 0:9e9b7db60fd5
File content as of revision 3:7bc03f1f0d03:
#ifndef _ROS_nav_msgs_Odometry_h #define _ROS_nav_msgs_Odometry_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "geometry_msgs/PoseWithCovariance.h" #include "geometry_msgs/TwistWithCovariance.h" namespace nav_msgs { class Odometry : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef const char* _child_frame_id_type; _child_frame_id_type child_frame_id; typedef geometry_msgs::PoseWithCovariance _pose_type; _pose_type pose; typedef geometry_msgs::TwistWithCovariance _twist_type; _twist_type twist; Odometry(): header(), child_frame_id(""), pose(), twist() { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); uint32_t length_child_frame_id = strlen(this->child_frame_id); varToArr(outbuffer + offset, length_child_frame_id); offset += 4; memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id); offset += length_child_frame_id; offset += this->pose.serialize(outbuffer + offset); offset += this->twist.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t length_child_frame_id; arrToVar(length_child_frame_id, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_child_frame_id-1]=0; this->child_frame_id = (char *)(inbuffer + offset-1); offset += length_child_frame_id; offset += this->pose.deserialize(inbuffer + offset); offset += this->twist.deserialize(inbuffer + offset); return offset; } const char * getType(){ return "nav_msgs/Odometry"; }; const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; }; }; } #endif