Gary Servin / rosserial_mbed_lib

Personal fork

Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

nav_msgs/Odometry.h@1:ff0ec969dad1, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:19:36 2011 +0000
Revision:
1:ff0ec969dad1
Parent:
0:77afd7560544
Child:
3:1cf99502f396
This program supported the revision of 143 of rosserial.

And the bug fix of receive of array data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 1:ff0ec969dad1 1 #ifndef ros_nav_msgs_Odometry_h
nucho 1:ff0ec969dad1 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 0:77afd7560544 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 0:77afd7560544 23 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 24 {
nucho 0:77afd7560544 25 int offset = 0;
nucho 0:77afd7560544 26 offset += this->header.serialize(outbuffer + offset);
nucho 0:77afd7560544 27 long * length_child_frame_id = (long *)(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 0:77afd7560544 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 0:77afd7560544 54 virtual const char * getType(){ return "nav_msgs/Odometry"; };
nucho 0:77afd7560544 55
nucho 0:77afd7560544 56 };
nucho 0:77afd7560544 57
nucho 0:77afd7560544 58 }
nucho 0:77afd7560544 59 #endif