Gary Servin
ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information
Dependents: rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more
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Inertia.h
00001 #ifndef _ROS_geometry_msgs_Inertia_h 00002 #define _ROS_geometry_msgs_Inertia_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "geometry_msgs/Vector3.h" 00009 00010 namespace geometry_msgs 00011 { 00012 00013 class Inertia : public ros::Msg 00014 { 00015 public: 00016 double m; 00017 geometry_msgs::Vector3 com; 00018 double ixx; 00019 double ixy; 00020 double ixz; 00021 double iyy; 00022 double iyz; 00023 double izz; 00024 00025 Inertia(): 00026 m(0), 00027 com(), 00028 ixx(0), 00029 ixy(0), 00030 ixz(0), 00031 iyy(0), 00032 iyz(0), 00033 izz(0) 00034 { 00035 } 00036 00037 virtual int serialize(unsigned char *outbuffer) const 00038 { 00039 int offset = 0; 00040 union { 00041 double real; 00042 uint64_t base; 00043 } u_m; 00044 u_m.real = this->m; 00045 *(outbuffer + offset + 0) = (u_m.base >> (8 * 0)) & 0xFF; 00046 *(outbuffer + offset + 1) = (u_m.base >> (8 * 1)) & 0xFF; 00047 *(outbuffer + offset + 2) = (u_m.base >> (8 * 2)) & 0xFF; 00048 *(outbuffer + offset + 3) = (u_m.base >> (8 * 3)) & 0xFF; 00049 *(outbuffer + offset + 4) = (u_m.base >> (8 * 4)) & 0xFF; 00050 *(outbuffer + offset + 5) = (u_m.base >> (8 * 5)) & 0xFF; 00051 *(outbuffer + offset + 6) = (u_m.base >> (8 * 6)) & 0xFF; 00052 *(outbuffer + offset + 7) = (u_m.base >> (8 * 7)) & 0xFF; 00053 offset += sizeof(this->m); 00054 offset += this->com.serialize(outbuffer + offset); 00055 union { 00056 double real; 00057 uint64_t base; 00058 } u_ixx; 00059 u_ixx.real = this->ixx; 00060 *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF; 00061 *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF; 00062 *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF; 00063 *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF; 00064 *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF; 00065 *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF; 00066 *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF; 00067 *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF; 00068 offset += sizeof(this->ixx); 00069 union { 00070 double real; 00071 uint64_t base; 00072 } u_ixy; 00073 u_ixy.real = this->ixy; 00074 *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF; 00075 *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF; 00076 *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF; 00077 *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF; 00078 *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF; 00079 *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF; 00080 *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF; 00081 *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF; 00082 offset += sizeof(this->ixy); 00083 union { 00084 double real; 00085 uint64_t base; 00086 } u_ixz; 00087 u_ixz.real = this->ixz; 00088 *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF; 00089 *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF; 00090 *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF; 00091 *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF; 00092 *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF; 00093 *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF; 00094 *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF; 00095 *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF; 00096 offset += sizeof(this->ixz); 00097 union { 00098 double real; 00099 uint64_t base; 00100 } u_iyy; 00101 u_iyy.real = this->iyy; 00102 *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF; 00103 *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF; 00104 *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF; 00105 *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF; 00106 *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF; 00107 *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF; 00108 *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF; 00109 *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF; 00110 offset += sizeof(this->iyy); 00111 union { 00112 double real; 00113 uint64_t base; 00114 } u_iyz; 00115 u_iyz.real = this->iyz; 00116 *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF; 00117 *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF; 00118 *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF; 00119 *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF; 00120 *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF; 00121 *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF; 00122 *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF; 00123 *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF; 00124 offset += sizeof(this->iyz); 00125 union { 00126 double real; 00127 uint64_t base; 00128 } u_izz; 00129 u_izz.real = this->izz; 00130 *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF; 00131 *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF; 00132 *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF; 00133 *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF; 00134 *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF; 00135 *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF; 00136 *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF; 00137 *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF; 00138 offset += sizeof(this->izz); 00139 return offset; 00140 } 00141 00142 virtual int deserialize(unsigned char *inbuffer) 00143 { 00144 int offset = 0; 00145 union { 00146 double real; 00147 uint64_t base; 00148 } u_m; 00149 u_m.base = 0; 00150 u_m.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00151 u_m.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00152 u_m.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00153 u_m.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00154 u_m.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00155 u_m.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00156 u_m.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00157 u_m.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00158 this->m = u_m.real; 00159 offset += sizeof(this->m); 00160 offset += this->com.deserialize(inbuffer + offset); 00161 union { 00162 double real; 00163 uint64_t base; 00164 } u_ixx; 00165 u_ixx.base = 0; 00166 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00167 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00168 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00169 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00170 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00171 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00172 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00173 u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00174 this->ixx = u_ixx.real; 00175 offset += sizeof(this->ixx); 00176 union { 00177 double real; 00178 uint64_t base; 00179 } u_ixy; 00180 u_ixy.base = 0; 00181 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00182 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00183 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00184 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00185 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00186 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00187 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00188 u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00189 this->ixy = u_ixy.real; 00190 offset += sizeof(this->ixy); 00191 union { 00192 double real; 00193 uint64_t base; 00194 } u_ixz; 00195 u_ixz.base = 0; 00196 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00197 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00198 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00199 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00200 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00201 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00202 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00203 u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00204 this->ixz = u_ixz.real; 00205 offset += sizeof(this->ixz); 00206 union { 00207 double real; 00208 uint64_t base; 00209 } u_iyy; 00210 u_iyy.base = 0; 00211 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00212 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00213 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00214 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00215 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00216 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00217 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00218 u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00219 this->iyy = u_iyy.real; 00220 offset += sizeof(this->iyy); 00221 union { 00222 double real; 00223 uint64_t base; 00224 } u_iyz; 00225 u_iyz.base = 0; 00226 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00227 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00228 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00229 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00230 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00231 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00232 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00233 u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00234 this->iyz = u_iyz.real; 00235 offset += sizeof(this->iyz); 00236 union { 00237 double real; 00238 uint64_t base; 00239 } u_izz; 00240 u_izz.base = 0; 00241 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00242 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00243 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00244 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00245 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00246 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00247 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00248 u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00249 this->izz = u_izz.real; 00250 offset += sizeof(this->izz); 00251 return offset; 00252 } 00253 00254 const char * getType(){ return "geometry_msgs/Inertia"; }; 00255 const char * getMD5(){ return "1d26e4bb6c83ff141c5cf0d883c2b0fe"; }; 00256 00257 }; 00258 00259 } 00260 #endif
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