Irfan Tito Kurniawan / ros_lib

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

ros_lib/mavros_msgs/AttitudeTarget.h@0:8f3710bfd298, 2020-09-02 (annotated)

Committer:
irfantitok
Date:
Wed Sep 02 13:51:31 2020 +0000
Revision:
0:8f3710bfd298
Resolved round not found

Who changed what in which revision?

UserRevisionLine numberNew contents of line
irfantitok 0:8f3710bfd298 1 #ifndef _ROS_mavros_msgs_AttitudeTarget_h
irfantitok 0:8f3710bfd298 2 #define _ROS_mavros_msgs_AttitudeTarget_h
irfantitok 0:8f3710bfd298 3
irfantitok 0:8f3710bfd298 4 #include <stdint.h>
irfantitok 0:8f3710bfd298 5 #include <string.h>
irfantitok 0:8f3710bfd298 6 #include <stdlib.h>
irfantitok 0:8f3710bfd298 7 #include "ros/msg.h"
irfantitok 0:8f3710bfd298 8 #include "std_msgs/Header.h"
irfantitok 0:8f3710bfd298 9 #include "geometry_msgs/Quaternion.h"
irfantitok 0:8f3710bfd298 10 #include "geometry_msgs/Vector3.h"
irfantitok 0:8f3710bfd298 11
irfantitok 0:8f3710bfd298 12 namespace mavros_msgs
irfantitok 0:8f3710bfd298 13 {
irfantitok 0:8f3710bfd298 14
irfantitok 0:8f3710bfd298 15 class AttitudeTarget : public ros::Msg
irfantitok 0:8f3710bfd298 16 {
irfantitok 0:8f3710bfd298 17 public:
irfantitok 0:8f3710bfd298 18 typedef std_msgs::Header _header_type;
irfantitok 0:8f3710bfd298 19 _header_type header;
irfantitok 0:8f3710bfd298 20 typedef uint8_t _type_mask_type;
irfantitok 0:8f3710bfd298 21 _type_mask_type type_mask;
irfantitok 0:8f3710bfd298 22 typedef geometry_msgs::Quaternion _orientation_type;
irfantitok 0:8f3710bfd298 23 _orientation_type orientation;
irfantitok 0:8f3710bfd298 24 typedef geometry_msgs::Vector3 _body_rate_type;
irfantitok 0:8f3710bfd298 25 _body_rate_type body_rate;
irfantitok 0:8f3710bfd298 26 typedef float _thrust_type;
irfantitok 0:8f3710bfd298 27 _thrust_type thrust;
irfantitok 0:8f3710bfd298 28 enum { IGNORE_ROLL_RATE = 1 };
irfantitok 0:8f3710bfd298 29 enum { IGNORE_PITCH_RATE = 2 };
irfantitok 0:8f3710bfd298 30 enum { IGNORE_YAW_RATE = 4 };
irfantitok 0:8f3710bfd298 31 enum { IGNORE_THRUST = 64 };
irfantitok 0:8f3710bfd298 32 enum { IGNORE_ATTITUDE = 128 };
irfantitok 0:8f3710bfd298 33
irfantitok 0:8f3710bfd298 34 AttitudeTarget():
irfantitok 0:8f3710bfd298 35 header(),
irfantitok 0:8f3710bfd298 36 type_mask(0),
irfantitok 0:8f3710bfd298 37 orientation(),
irfantitok 0:8f3710bfd298 38 body_rate(),
irfantitok 0:8f3710bfd298 39 thrust(0)
irfantitok 0:8f3710bfd298 40 {
irfantitok 0:8f3710bfd298 41 }
irfantitok 0:8f3710bfd298 42
irfantitok 0:8f3710bfd298 43 virtual int serialize(unsigned char *outbuffer) const
irfantitok 0:8f3710bfd298 44 {
irfantitok 0:8f3710bfd298 45 int offset = 0;
irfantitok 0:8f3710bfd298 46 offset += this->header.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 47 *(outbuffer + offset + 0) = (this->type_mask >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 48 offset += sizeof(this->type_mask);
irfantitok 0:8f3710bfd298 49 offset += this->orientation.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 50 offset += this->body_rate.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 51 union {
irfantitok 0:8f3710bfd298 52 float real;
irfantitok 0:8f3710bfd298 53 uint32_t base;
irfantitok 0:8f3710bfd298 54 } u_thrust;
irfantitok 0:8f3710bfd298 55 u_thrust.real = this->thrust;
irfantitok 0:8f3710bfd298 56 *(outbuffer + offset + 0) = (u_thrust.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 57 *(outbuffer + offset + 1) = (u_thrust.base >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 58 *(outbuffer + offset + 2) = (u_thrust.base >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 59 *(outbuffer + offset + 3) = (u_thrust.base >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 60 offset += sizeof(this->thrust);
irfantitok 0:8f3710bfd298 61 return offset;
irfantitok 0:8f3710bfd298 62 }
irfantitok 0:8f3710bfd298 63
irfantitok 0:8f3710bfd298 64 virtual int deserialize(unsigned char *inbuffer)
irfantitok 0:8f3710bfd298 65 {
irfantitok 0:8f3710bfd298 66 int offset = 0;
irfantitok 0:8f3710bfd298 67 offset += this->header.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 68 this->type_mask = ((uint8_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 69 offset += sizeof(this->type_mask);
irfantitok 0:8f3710bfd298 70 offset += this->orientation.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 71 offset += this->body_rate.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 72 union {
irfantitok 0:8f3710bfd298 73 float real;
irfantitok 0:8f3710bfd298 74 uint32_t base;
irfantitok 0:8f3710bfd298 75 } u_thrust;
irfantitok 0:8f3710bfd298 76 u_thrust.base = 0;
irfantitok 0:8f3710bfd298 77 u_thrust.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 78 u_thrust.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 79 u_thrust.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 80 u_thrust.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 81 this->thrust = u_thrust.real;
irfantitok 0:8f3710bfd298 82 offset += sizeof(this->thrust);
irfantitok 0:8f3710bfd298 83 return offset;
irfantitok 0:8f3710bfd298 84 }
irfantitok 0:8f3710bfd298 85
irfantitok 0:8f3710bfd298 86 const char * getType(){ return "mavros_msgs/AttitudeTarget"; };
irfantitok 0:8f3710bfd298 87 const char * getMD5(){ return "456f3af666b22ccd0222ea053a86b548"; };
irfantitok 0:8f3710bfd298 88
irfantitok 0:8f3710bfd298 89 };
irfantitok 0:8f3710bfd298 90
irfantitok 0:8f3710bfd298 91 }
irfantitok 0:8f3710bfd298 92 #endif