John Lam / ros_lib_melodic_

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

nav_msgs/Odometry.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_nav_msgs_Odometry_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_nav_msgs_Odometry_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9 #include "geometry_msgs/PoseWithCovariance.h"
Gary Servin 0:04ac6be8229a 10 #include "geometry_msgs/TwistWithCovariance.h"
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 namespace nav_msgs
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class Odometry : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 19 _header_type header;
Gary Servin 0:04ac6be8229a 20 typedef const char* _child_frame_id_type;
Gary Servin 0:04ac6be8229a 21 _child_frame_id_type child_frame_id;
Gary Servin 0:04ac6be8229a 22 typedef geometry_msgs::PoseWithCovariance _pose_type;
Gary Servin 0:04ac6be8229a 23 _pose_type pose;
Gary Servin 0:04ac6be8229a 24 typedef geometry_msgs::TwistWithCovariance _twist_type;
Gary Servin 0:04ac6be8229a 25 _twist_type twist;
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 Odometry():
Gary Servin 0:04ac6be8229a 28 header(),
Gary Servin 0:04ac6be8229a 29 child_frame_id(""),
Gary Servin 0:04ac6be8229a 30 pose(),
Gary Servin 0:04ac6be8229a 31 twist()
Gary Servin 0:04ac6be8229a 32 {
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 39 uint32_t length_child_frame_id = strlen(this->child_frame_id);
Gary Servin 0:04ac6be8229a 40 varToArr(outbuffer + offset, length_child_frame_id);
Gary Servin 0:04ac6be8229a 41 offset += 4;
Gary Servin 0:04ac6be8229a 42 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
Gary Servin 0:04ac6be8229a 43 offset += length_child_frame_id;
Gary Servin 0:04ac6be8229a 44 offset += this->pose.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 45 offset += this->twist.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 46 return offset;
Gary Servin 0:04ac6be8229a 47 }
Gary Servin 0:04ac6be8229a 48
Gary Servin 0:04ac6be8229a 49 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 50 {
Gary Servin 0:04ac6be8229a 51 int offset = 0;
Gary Servin 0:04ac6be8229a 52 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 53 uint32_t length_child_frame_id;
Gary Servin 0:04ac6be8229a 54 arrToVar(length_child_frame_id, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 55 offset += 4;
Gary Servin 0:04ac6be8229a 56 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
Gary Servin 0:04ac6be8229a 57 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 58 }
Gary Servin 0:04ac6be8229a 59 inbuffer[offset+length_child_frame_id-1]=0;
Gary Servin 0:04ac6be8229a 60 this->child_frame_id = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 61 offset += length_child_frame_id;
Gary Servin 0:04ac6be8229a 62 offset += this->pose.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 63 offset += this->twist.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 64 return offset;
Gary Servin 0:04ac6be8229a 65 }
Gary Servin 0:04ac6be8229a 66
Gary Servin 0:04ac6be8229a 67 const char * getType(){ return "nav_msgs/Odometry"; };
Gary Servin 0:04ac6be8229a 68 const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
Gary Servin 0:04ac6be8229a 69
Gary Servin 0:04ac6be8229a 70 };
Gary Servin 0:04ac6be8229a 71
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 #endif