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
Velocity.h
00001 #ifndef _ROS_turtle_actionlib_Velocity_h 00002 #define _ROS_turtle_actionlib_Velocity_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace turtle_actionlib 00010 { 00011 00012 class Velocity : public ros::Msg 00013 { 00014 public: 00015 float linear; 00016 float angular; 00017 00018 Velocity(): 00019 linear(0), 00020 angular(0) 00021 { 00022 } 00023 00024 virtual int serialize(unsigned char *outbuffer) const 00025 { 00026 int offset = 0; 00027 union { 00028 float real; 00029 uint32_t base; 00030 } u_linear; 00031 u_linear.real = this->linear; 00032 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF; 00033 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF; 00034 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF; 00035 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF; 00036 offset += sizeof(this->linear); 00037 union { 00038 float real; 00039 uint32_t base; 00040 } u_angular; 00041 u_angular.real = this->angular; 00042 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF; 00043 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF; 00044 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF; 00045 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF; 00046 offset += sizeof(this->angular); 00047 return offset; 00048 } 00049 00050 virtual int deserialize(unsigned char *inbuffer) 00051 { 00052 int offset = 0; 00053 union { 00054 float real; 00055 uint32_t base; 00056 } u_linear; 00057 u_linear.base = 0; 00058 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00059 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00060 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00061 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00062 this->linear = u_linear.real; 00063 offset += sizeof(this->linear); 00064 union { 00065 float real; 00066 uint32_t base; 00067 } u_angular; 00068 u_angular.base = 0; 00069 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00070 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00071 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00072 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00073 this->angular = u_angular.real; 00074 offset += sizeof(this->angular); 00075 return offset; 00076 } 00077 00078 const char * getType(){ return "turtle_actionlib/Velocity"; }; 00079 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; }; 00080 00081 }; 00082 00083 } 00084 #endif
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