Pose2D.h

00001 #ifndef _ROS_geometry_msgs_Pose2D_h
00002 #define _ROS_geometry_msgs_Pose2D_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace geometry_msgs
00010 {
00011 
00012   class Pose2D : public ros::Msg
00013   {
00014     public:
00015       double x;
00016       double y;
00017       double theta;
00018 
00019     Pose2D():
00020       x(0),
00021       y(0),
00022       theta(0)
00023     {
00024     }
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       union {
00030         double real;
00031         uint64_t base;
00032       } u_x;
00033       u_x.real = this->x;
00034       *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
00035       *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
00036       *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
00037       *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
00038       *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
00039       *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
00040       *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
00041       *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
00042       offset += sizeof(this->x);
00043       union {
00044         double real;
00045         uint64_t base;
00046       } u_y;
00047       u_y.real = this->y;
00048       *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
00049       *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
00050       *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
00051       *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
00052       *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
00053       *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
00054       *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
00055       *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
00056       offset += sizeof(this->y);
00057       union {
00058         double real;
00059         uint64_t base;
00060       } u_theta;
00061       u_theta.real = this->theta;
00062       *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
00063       *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
00064       *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
00065       *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
00066       *(outbuffer + offset + 4) = (u_theta.base >> (8 * 4)) & 0xFF;
00067       *(outbuffer + offset + 5) = (u_theta.base >> (8 * 5)) & 0xFF;
00068       *(outbuffer + offset + 6) = (u_theta.base >> (8 * 6)) & 0xFF;
00069       *(outbuffer + offset + 7) = (u_theta.base >> (8 * 7)) & 0xFF;
00070       offset += sizeof(this->theta);
00071       return offset;
00072     }
00073 
00074     virtual int deserialize(unsigned char *inbuffer)
00075     {
00076       int offset = 0;
00077       union {
00078         double real;
00079         uint64_t base;
00080       } u_x;
00081       u_x.base = 0;
00082       u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00083       u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00084       u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00085       u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00086       u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00087       u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00088       u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00089       u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00090       this->x = u_x.real;
00091       offset += sizeof(this->x);
00092       union {
00093         double real;
00094         uint64_t base;
00095       } u_y;
00096       u_y.base = 0;
00097       u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00098       u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00099       u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00100       u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00101       u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00102       u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00103       u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00104       u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00105       this->y = u_y.real;
00106       offset += sizeof(this->y);
00107       union {
00108         double real;
00109         uint64_t base;
00110       } u_theta;
00111       u_theta.base = 0;
00112       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00113       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00114       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00115       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00116       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00117       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00118       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00119       u_theta.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00120       this->theta = u_theta.real;
00121       offset += sizeof(this->theta);
00122      return offset;
00123     }
00124 
00125     const char * getType(){ return "geometry_msgs/Pose2D"; };
00126     const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; };
00127 
00128   };
00129 
00130 }
00131 #endif