PROJ515 - LED - ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
turtle_actionlib/Velocity.h
- Committer:
- Luka_Danilovic
- Date:
- 2019-05-14
- Revision:
- 3:7bc03f1f0d03
- Parent:
- 0:9e9b7db60fd5
File content as of revision 3:7bc03f1f0d03:
#ifndef _ROS_turtle_actionlib_Velocity_h #define _ROS_turtle_actionlib_Velocity_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace turtle_actionlib { class Velocity : public ros::Msg { public: typedef float _linear_type; _linear_type linear; typedef float _angular_type; _angular_type angular; Velocity(): linear(0), angular(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { float real; uint32_t base; } u_linear; u_linear.real = this->linear; *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF; offset += sizeof(this->linear); union { float real; uint32_t base; } u_angular; u_angular.real = this->angular; *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angular); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { float real; uint32_t base; } u_linear; u_linear.base = 0; u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->linear = u_linear.real; offset += sizeof(this->linear); union { float real; uint32_t base; } u_angular; u_angular.base = 0; u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angular = u_angular.real; offset += sizeof(this->angular); return offset; } const char * getType(){ return "turtle_actionlib/Velocity"; }; const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; }; }; } #endif