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
nav_msgs/Odometry.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_nav_msgs_Odometry_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_nav_msgs_Odometry_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 "std_msgs/Header.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "geometry_msgs/PoseWithCovariance.h" |
garyservin | 0:9e9b7db60fd5 | 10 | #include "geometry_msgs/TwistWithCovariance.h" |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | namespace nav_msgs |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class Odometry : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 20 | typedef const char* _child_frame_id_type; |
garyservin | 0:9e9b7db60fd5 | 21 | _child_frame_id_type child_frame_id; |
garyservin | 0:9e9b7db60fd5 | 22 | typedef geometry_msgs::PoseWithCovariance _pose_type; |
garyservin | 0:9e9b7db60fd5 | 23 | _pose_type pose; |
garyservin | 0:9e9b7db60fd5 | 24 | typedef geometry_msgs::TwistWithCovariance _twist_type; |
garyservin | 0:9e9b7db60fd5 | 25 | _twist_type twist; |
garyservin | 0:9e9b7db60fd5 | 26 | |
garyservin | 0:9e9b7db60fd5 | 27 | Odometry(): |
garyservin | 0:9e9b7db60fd5 | 28 | header(), |
garyservin | 0:9e9b7db60fd5 | 29 | child_frame_id(""), |
garyservin | 0:9e9b7db60fd5 | 30 | pose(), |
garyservin | 0:9e9b7db60fd5 | 31 | twist() |
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 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 39 | uint32_t length_child_frame_id = strlen(this->child_frame_id); |
garyservin | 0:9e9b7db60fd5 | 40 | varToArr(outbuffer + offset, length_child_frame_id); |
garyservin | 0:9e9b7db60fd5 | 41 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 42 | memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id); |
garyservin | 0:9e9b7db60fd5 | 43 | offset += length_child_frame_id; |
garyservin | 0:9e9b7db60fd5 | 44 | offset += this->pose.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 45 | offset += this->twist.serialize(outbuffer + offset); |
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->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 53 | uint32_t length_child_frame_id; |
garyservin | 0:9e9b7db60fd5 | 54 | arrToVar(length_child_frame_id, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 55 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 56 | for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ |
garyservin | 0:9e9b7db60fd5 | 57 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 58 | } |
garyservin | 0:9e9b7db60fd5 | 59 | inbuffer[offset+length_child_frame_id-1]=0; |
garyservin | 0:9e9b7db60fd5 | 60 | this->child_frame_id = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 61 | offset += length_child_frame_id; |
garyservin | 0:9e9b7db60fd5 | 62 | offset += this->pose.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 63 | offset += this->twist.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 64 | return offset; |
garyservin | 0:9e9b7db60fd5 | 65 | } |
garyservin | 0:9e9b7db60fd5 | 66 | |
garyservin | 0:9e9b7db60fd5 | 67 | const char * getType(){ return "nav_msgs/Odometry"; }; |
garyservin | 0:9e9b7db60fd5 | 68 | const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; }; |
garyservin | 0:9e9b7db60fd5 | 69 | |
garyservin | 0:9e9b7db60fd5 | 70 | }; |
garyservin | 0:9e9b7db60fd5 | 71 | |
garyservin | 0:9e9b7db60fd5 | 72 | } |
garyservin | 0:9e9b7db60fd5 | 73 | #endif |