Diff: nav_msgs/Odometry.h

Revision:

0:77afd7560544

Child:

1:ff0ec969dad1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/Odometry.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,59 @@
+#ifndef ros_Odometry_h
+#define ros_Odometry_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseWithCovariance.h"
+#include "geometry_msgs/TwistWithCovariance.h"
+
+namespace nav_msgs
+{
+
+  class Odometry : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      char * child_frame_id;
+      geometry_msgs::PoseWithCovariance pose;
+      geometry_msgs::TwistWithCovariance twist;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      long * length_child_frame_id = (long *)(outbuffer + offset);
+      *length_child_frame_id = strlen( (const char*) this->child_frame_id);
+      offset += 4;
+      memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id);
+      offset += *length_child_frame_id;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+           }
+      inbuffer[offset+length_child_frame_id-1]=0;
+      this->child_frame_id = (char *)(inbuffer + offset-1);
+      offset += length_child_frame_id;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+   virtual const char * getType(){ return "nav_msgs/Odometry"; };
+
+  };
+
+}
+#endif
\ No newline at end of file