make changes on buffer serial
Diff: geometry_msgs/PoseWithCovariance.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/geometry_msgs/PoseWithCovariance.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,79 @@ +#ifndef _ROS_geometry_msgs_PoseWithCovariance_h +#define _ROS_geometry_msgs_PoseWithCovariance_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "geometry_msgs/Pose.h" + +namespace geometry_msgs +{ + + class PoseWithCovariance : public ros::Msg + { + public: + typedef geometry_msgs::Pose _pose_type; + _pose_type pose; + double covariance[36]; + + PoseWithCovariance(): + pose(), + covariance() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->pose.serialize(outbuffer + offset); + for( uint32_t i = 0; i < 36; i++){ + union { + double real; + uint64_t base; + } u_covariancei; + u_covariancei.real = this->covariance[i]; + *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->covariance[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->pose.deserialize(inbuffer + offset); + for( uint32_t i = 0; i < 36; i++){ + union { + double real; + uint64_t base; + } u_covariancei; + u_covariancei.base = 0; + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->covariance[i] = u_covariancei.real; + offset += sizeof(this->covariance[i]); + } + return offset; + } + + const char * getType(){ return "geometry_msgs/PoseWithCovariance"; }; + const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; }; + + }; + +} +#endif