Gary Servin / rosserial_mbed_lib

Personal fork

Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

nav_msgs/Odometry.h@3:1cf99502f396, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:54:45 2011 +0000
Revision:
3:1cf99502f396
Parent:
1:ff0ec969dad1 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_nav_msgs_Odometry_h
nucho 3:1cf99502f396 2 #define _ROS_nav_msgs_Odometry_h
nucho 0:77afd7560544 3
nucho 0:77afd7560544 4 #include <stdint.h>
nucho 0:77afd7560544 5 #include <string.h>
nucho 0:77afd7560544 6 #include <stdlib.h>
nucho 3:1cf99502f396 7 #include "ros/msg.h"
nucho 0:77afd7560544 8 #include "std_msgs/Header.h"
nucho 0:77afd7560544 9 #include "geometry_msgs/PoseWithCovariance.h"
nucho 0:77afd7560544 10 #include "geometry_msgs/TwistWithCovariance.h"
nucho 0:77afd7560544 11
nucho 0:77afd7560544 12 namespace nav_msgs
nucho 0:77afd7560544 13 {
nucho 0:77afd7560544 14
nucho 0:77afd7560544 15 class Odometry : public ros::Msg
nucho 0:77afd7560544 16 {
nucho 0:77afd7560544 17 public:
nucho 0:77afd7560544 18 std_msgs::Header header;
nucho 0:77afd7560544 19 char * child_frame_id;
nucho 0:77afd7560544 20 geometry_msgs::PoseWithCovariance pose;
nucho 0:77afd7560544 21 geometry_msgs::TwistWithCovariance twist;
nucho 0:77afd7560544 22
nucho 3:1cf99502f396 23 virtual int serialize(unsigned char *outbuffer) const
nucho 0:77afd7560544 24 {
nucho 0:77afd7560544 25 int offset = 0;
nucho 0:77afd7560544 26 offset += this->header.serialize(outbuffer + offset);
nucho 3:1cf99502f396 27 uint32_t * length_child_frame_id = (uint32_t *)(outbuffer + offset);
nucho 0:77afd7560544 28 *length_child_frame_id = strlen( (const char*) this->child_frame_id);
nucho 0:77afd7560544 29 offset += 4;
nucho 0:77afd7560544 30 memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id);
nucho 0:77afd7560544 31 offset += *length_child_frame_id;
nucho 0:77afd7560544 32 offset += this->pose.serialize(outbuffer + offset);
nucho 0:77afd7560544 33 offset += this->twist.serialize(outbuffer + offset);
nucho 0:77afd7560544 34 return offset;
nucho 0:77afd7560544 35 }
nucho 0:77afd7560544 36
nucho 0:77afd7560544 37 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 38 {
nucho 0:77afd7560544 39 int offset = 0;
nucho 0:77afd7560544 40 offset += this->header.deserialize(inbuffer + offset);
nucho 0:77afd7560544 41 uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset);
nucho 0:77afd7560544 42 offset += 4;
nucho 0:77afd7560544 43 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
nucho 0:77afd7560544 44 inbuffer[k-1]=inbuffer[k];
nucho 3:1cf99502f396 45 }
nucho 0:77afd7560544 46 inbuffer[offset+length_child_frame_id-1]=0;
nucho 0:77afd7560544 47 this->child_frame_id = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 48 offset += length_child_frame_id;
nucho 0:77afd7560544 49 offset += this->pose.deserialize(inbuffer + offset);
nucho 0:77afd7560544 50 offset += this->twist.deserialize(inbuffer + offset);
nucho 0:77afd7560544 51 return offset;
nucho 0:77afd7560544 52 }
nucho 0:77afd7560544 53
nucho 3:1cf99502f396 54 virtual const char * getType(){ return "nav_msgs/Odometry"; };
nucho 3:1cf99502f396 55 virtual const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
nucho 0:77afd7560544 56
nucho 0:77afd7560544 57 };
nucho 0:77afd7560544 58
nucho 0:77afd7560544 59 }
nucho 0:77afd7560544 60 #endif