ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
geometry_msgs/PoseWithCovariance.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_geometry_msgs_PoseWithCovariance_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_geometry_msgs_PoseWithCovariance_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 | #include "geometry_msgs/Pose.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace geometry_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class PoseWithCovariance : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef geometry_msgs::Pose _pose_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _pose_type pose; |
garyservin | 0:9e9b7db60fd5 | 18 | double covariance[36]; |
garyservin | 0:9e9b7db60fd5 | 19 | |
garyservin | 0:9e9b7db60fd5 | 20 | PoseWithCovariance(): |
garyservin | 0:9e9b7db60fd5 | 21 | pose(), |
garyservin | 0:9e9b7db60fd5 | 22 | covariance() |
garyservin | 0:9e9b7db60fd5 | 23 | { |
garyservin | 0:9e9b7db60fd5 | 24 | } |
garyservin | 0:9e9b7db60fd5 | 25 | |
garyservin | 0:9e9b7db60fd5 | 26 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 27 | { |
garyservin | 0:9e9b7db60fd5 | 28 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 29 | offset += this->pose.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 30 | for( uint32_t i = 0; i < 36; i++){ |
garyservin | 0:9e9b7db60fd5 | 31 | union { |
garyservin | 0:9e9b7db60fd5 | 32 | double real; |
garyservin | 0:9e9b7db60fd5 | 33 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 34 | } u_covariancei; |
garyservin | 0:9e9b7db60fd5 | 35 | u_covariancei.real = this->covariance[i]; |
garyservin | 0:9e9b7db60fd5 | 36 | *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 37 | *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 38 | *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 39 | *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | offset += sizeof(this->covariance[i]); |
garyservin | 0:9e9b7db60fd5 | 45 | } |
garyservin | 0:9e9b7db60fd5 | 46 | return offset; |
garyservin | 0:9e9b7db60fd5 | 47 | } |
garyservin | 0:9e9b7db60fd5 | 48 | |
garyservin | 0:9e9b7db60fd5 | 49 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 50 | { |
garyservin | 0:9e9b7db60fd5 | 51 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 52 | offset += this->pose.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 53 | for( uint32_t i = 0; i < 36; i++){ |
garyservin | 0:9e9b7db60fd5 | 54 | union { |
garyservin | 0:9e9b7db60fd5 | 55 | double real; |
garyservin | 0:9e9b7db60fd5 | 56 | uint64_t base; |
garyservin | 0:9e9b7db60fd5 | 57 | } u_covariancei; |
garyservin | 0:9e9b7db60fd5 | 58 | u_covariancei.base = 0; |
garyservin | 0:9e9b7db60fd5 | 59 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 60 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 61 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 62 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 63 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:9e9b7db60fd5 | 64 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:9e9b7db60fd5 | 65 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:9e9b7db60fd5 | 66 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:9e9b7db60fd5 | 67 | this->covariance[i] = u_covariancei.real; |
garyservin | 0:9e9b7db60fd5 | 68 | offset += sizeof(this->covariance[i]); |
garyservin | 0:9e9b7db60fd5 | 69 | } |
garyservin | 0:9e9b7db60fd5 | 70 | return offset; |
garyservin | 0:9e9b7db60fd5 | 71 | } |
garyservin | 0:9e9b7db60fd5 | 72 | |
garyservin | 0:9e9b7db60fd5 | 73 | const char * getType(){ return "geometry_msgs/PoseWithCovariance"; }; |
garyservin | 0:9e9b7db60fd5 | 74 | const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; }; |
garyservin | 0:9e9b7db60fd5 | 75 | |
garyservin | 0:9e9b7db60fd5 | 76 | }; |
garyservin | 0:9e9b7db60fd5 | 77 | |
garyservin | 0:9e9b7db60fd5 | 78 | } |
garyservin | 0:9e9b7db60fd5 | 79 | #endif |