57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
turtlesim/Pose.h@2:40f11e1dc026, 2018-10-23 (annotated)
- Committer:
- WeberYang
- Date:
- Tue Oct 23 03:00:47 2018 +0000
- Revision:
- 2:40f11e1dc026
- Parent:
- 0:9e9b7db60fd5
Using two TIM to capture encoder signals.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_turtlesim_Pose_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_turtlesim_Pose_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace turtlesim |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | class Pose : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | public: |
garyservin | 0:9e9b7db60fd5 | 15 | typedef float _x_type; |
garyservin | 0:9e9b7db60fd5 | 16 | _x_type x; |
garyservin | 0:9e9b7db60fd5 | 17 | typedef float _y_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _y_type y; |
garyservin | 0:9e9b7db60fd5 | 19 | typedef float _theta_type; |
garyservin | 0:9e9b7db60fd5 | 20 | _theta_type theta; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef float _linear_velocity_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _linear_velocity_type linear_velocity; |
garyservin | 0:9e9b7db60fd5 | 23 | typedef float _angular_velocity_type; |
garyservin | 0:9e9b7db60fd5 | 24 | _angular_velocity_type angular_velocity; |
garyservin | 0:9e9b7db60fd5 | 25 | |
garyservin | 0:9e9b7db60fd5 | 26 | Pose(): |
garyservin | 0:9e9b7db60fd5 | 27 | x(0), |
garyservin | 0:9e9b7db60fd5 | 28 | y(0), |
garyservin | 0:9e9b7db60fd5 | 29 | theta(0), |
garyservin | 0:9e9b7db60fd5 | 30 | linear_velocity(0), |
garyservin | 0:9e9b7db60fd5 | 31 | angular_velocity(0) |
garyservin | 0:9e9b7db60fd5 | 32 | { |
garyservin | 0:9e9b7db60fd5 | 33 | } |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 36 | { |
garyservin | 0:9e9b7db60fd5 | 37 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 38 | union { |
garyservin | 0:9e9b7db60fd5 | 39 | float real; |
garyservin | 0:9e9b7db60fd5 | 40 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 41 | } u_x; |
garyservin | 0:9e9b7db60fd5 | 42 | u_x.real = this->x; |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 45 | *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 46 | *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 47 | offset += sizeof(this->x); |
garyservin | 0:9e9b7db60fd5 | 48 | union { |
garyservin | 0:9e9b7db60fd5 | 49 | float real; |
garyservin | 0:9e9b7db60fd5 | 50 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 51 | } u_y; |
garyservin | 0:9e9b7db60fd5 | 52 | u_y.real = this->y; |
garyservin | 0:9e9b7db60fd5 | 53 | *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 54 | *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 55 | *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 56 | *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 57 | offset += sizeof(this->y); |
garyservin | 0:9e9b7db60fd5 | 58 | union { |
garyservin | 0:9e9b7db60fd5 | 59 | float real; |
garyservin | 0:9e9b7db60fd5 | 60 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 61 | } u_theta; |
garyservin | 0:9e9b7db60fd5 | 62 | u_theta.real = this->theta; |
garyservin | 0:9e9b7db60fd5 | 63 | *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 64 | *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 65 | *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 66 | *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 67 | offset += sizeof(this->theta); |
garyservin | 0:9e9b7db60fd5 | 68 | union { |
garyservin | 0:9e9b7db60fd5 | 69 | float real; |
garyservin | 0:9e9b7db60fd5 | 70 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 71 | } u_linear_velocity; |
garyservin | 0:9e9b7db60fd5 | 72 | u_linear_velocity.real = this->linear_velocity; |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | offset += sizeof(this->linear_velocity); |
garyservin | 0:9e9b7db60fd5 | 78 | union { |
garyservin | 0:9e9b7db60fd5 | 79 | float real; |
garyservin | 0:9e9b7db60fd5 | 80 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 81 | } u_angular_velocity; |
garyservin | 0:9e9b7db60fd5 | 82 | u_angular_velocity.real = this->angular_velocity; |
garyservin | 0:9e9b7db60fd5 | 83 | *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 84 | *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 85 | *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 86 | *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 87 | offset += sizeof(this->angular_velocity); |
garyservin | 0:9e9b7db60fd5 | 88 | return offset; |
garyservin | 0:9e9b7db60fd5 | 89 | } |
garyservin | 0:9e9b7db60fd5 | 90 | |
garyservin | 0:9e9b7db60fd5 | 91 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 92 | { |
garyservin | 0:9e9b7db60fd5 | 93 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 94 | union { |
garyservin | 0:9e9b7db60fd5 | 95 | float real; |
garyservin | 0:9e9b7db60fd5 | 96 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 97 | } u_x; |
garyservin | 0:9e9b7db60fd5 | 98 | u_x.base = 0; |
garyservin | 0:9e9b7db60fd5 | 99 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 100 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 101 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 102 | u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 103 | this->x = u_x.real; |
garyservin | 0:9e9b7db60fd5 | 104 | offset += sizeof(this->x); |
garyservin | 0:9e9b7db60fd5 | 105 | union { |
garyservin | 0:9e9b7db60fd5 | 106 | float real; |
garyservin | 0:9e9b7db60fd5 | 107 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 108 | } u_y; |
garyservin | 0:9e9b7db60fd5 | 109 | u_y.base = 0; |
garyservin | 0:9e9b7db60fd5 | 110 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 111 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 112 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 113 | u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 114 | this->y = u_y.real; |
garyservin | 0:9e9b7db60fd5 | 115 | offset += sizeof(this->y); |
garyservin | 0:9e9b7db60fd5 | 116 | union { |
garyservin | 0:9e9b7db60fd5 | 117 | float real; |
garyservin | 0:9e9b7db60fd5 | 118 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 119 | } u_theta; |
garyservin | 0:9e9b7db60fd5 | 120 | u_theta.base = 0; |
garyservin | 0:9e9b7db60fd5 | 121 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 122 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 123 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 124 | u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 125 | this->theta = u_theta.real; |
garyservin | 0:9e9b7db60fd5 | 126 | offset += sizeof(this->theta); |
garyservin | 0:9e9b7db60fd5 | 127 | union { |
garyservin | 0:9e9b7db60fd5 | 128 | float real; |
garyservin | 0:9e9b7db60fd5 | 129 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 130 | } u_linear_velocity; |
garyservin | 0:9e9b7db60fd5 | 131 | u_linear_velocity.base = 0; |
garyservin | 0:9e9b7db60fd5 | 132 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 133 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 134 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 135 | u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 136 | this->linear_velocity = u_linear_velocity.real; |
garyservin | 0:9e9b7db60fd5 | 137 | offset += sizeof(this->linear_velocity); |
garyservin | 0:9e9b7db60fd5 | 138 | union { |
garyservin | 0:9e9b7db60fd5 | 139 | float real; |
garyservin | 0:9e9b7db60fd5 | 140 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 141 | } u_angular_velocity; |
garyservin | 0:9e9b7db60fd5 | 142 | u_angular_velocity.base = 0; |
garyservin | 0:9e9b7db60fd5 | 143 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 144 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 145 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 146 | u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 147 | this->angular_velocity = u_angular_velocity.real; |
garyservin | 0:9e9b7db60fd5 | 148 | offset += sizeof(this->angular_velocity); |
garyservin | 0:9e9b7db60fd5 | 149 | return offset; |
garyservin | 0:9e9b7db60fd5 | 150 | } |
garyservin | 0:9e9b7db60fd5 | 151 | |
garyservin | 0:9e9b7db60fd5 | 152 | const char * getType(){ return "turtlesim/Pose"; }; |
garyservin | 0:9e9b7db60fd5 | 153 | const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; }; |
garyservin | 0:9e9b7db60fd5 | 154 | |
garyservin | 0:9e9b7db60fd5 | 155 | }; |
garyservin | 0:9e9b7db60fd5 | 156 | |
garyservin | 0:9e9b7db60fd5 | 157 | } |
garyservin | 0:9e9b7db60fd5 | 158 | #endif |