Diff: turtlesim/Pose.h

Revision:

0:30537dec6e0b

diff -r 000000000000 -r 30537dec6e0b turtlesim/Pose.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/Pose.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,153 @@
+#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:
+      float x;
+      float y;
+      float theta;
+      float linear_velocity;
+      float 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