Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

nav_msgs/Odometry.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_nav_msgs_Odometry_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_nav_msgs_Odometry_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/PoseWithCovariance.h"
akashvibhute 0:30537dec6e0b 10 #include "geometry_msgs/TwistWithCovariance.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace nav_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class Odometry : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 19 const char* child_frame_id;
akashvibhute 0:30537dec6e0b 20 geometry_msgs::PoseWithCovariance pose;
akashvibhute 0:30537dec6e0b 21 geometry_msgs::TwistWithCovariance twist;
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 Odometry():
akashvibhute 0:30537dec6e0b 24 header(),
akashvibhute 0:30537dec6e0b 25 child_frame_id(""),
akashvibhute 0:30537dec6e0b 26 pose(),
akashvibhute 0:30537dec6e0b 27 twist()
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 }
akashvibhute 0:30537dec6e0b 30
akashvibhute 0:30537dec6e0b 31 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 int offset = 0;
akashvibhute 0:30537dec6e0b 34 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 35 uint32_t length_child_frame_id = strlen(this->child_frame_id);
akashvibhute 0:30537dec6e0b 36 memcpy(outbuffer + offset, &length_child_frame_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 37 offset += 4;
akashvibhute 0:30537dec6e0b 38 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
akashvibhute 0:30537dec6e0b 39 offset += length_child_frame_id;
akashvibhute 0:30537dec6e0b 40 offset += this->pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 41 offset += this->twist.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 42 return offset;
akashvibhute 0:30537dec6e0b 43 }
akashvibhute 0:30537dec6e0b 44
akashvibhute 0:30537dec6e0b 45 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 46 {
akashvibhute 0:30537dec6e0b 47 int offset = 0;
akashvibhute 0:30537dec6e0b 48 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 49 uint32_t length_child_frame_id;
akashvibhute 0:30537dec6e0b 50 memcpy(&length_child_frame_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 51 offset += 4;
akashvibhute 0:30537dec6e0b 52 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
akashvibhute 0:30537dec6e0b 53 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 54 }
akashvibhute 0:30537dec6e0b 55 inbuffer[offset+length_child_frame_id-1]=0;
akashvibhute 0:30537dec6e0b 56 this->child_frame_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 57 offset += length_child_frame_id;
akashvibhute 0:30537dec6e0b 58 offset += this->pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 59 offset += this->twist.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 60 return offset;
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 const char * getType(){ return "nav_msgs/Odometry"; };
akashvibhute 0:30537dec6e0b 64 const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
akashvibhute 0:30537dec6e0b 65
akashvibhute 0:30537dec6e0b 66 };
akashvibhute 0:30537dec6e0b 67
akashvibhute 0:30537dec6e0b 68 }
akashvibhute 0:30537dec6e0b 69 #endif