57600-->921600
Dependencies: BufferedSerial ledControl2
Fork of ros_lib_kinetic by
turtlesim/Pose.h
- Committer:
- WeberYang
- Date:
- 2018-10-23
- Revision:
- 2:40f11e1dc026
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:40f11e1dc026:
#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