Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

geometry_msgs/PoseWithCovariance.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_geometry_msgs_PoseWithCovariance_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_geometry_msgs_PoseWithCovariance_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "geometry_msgs/Pose.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace geometry_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class PoseWithCovariance : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef geometry_msgs::Pose _pose_type;
garyservin 0:9e9b7db60fd5 17 _pose_type pose;
garyservin 0:9e9b7db60fd5 18 double covariance[36];
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 PoseWithCovariance():
garyservin 0:9e9b7db60fd5 21 pose(),
garyservin 0:9e9b7db60fd5 22 covariance()
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 30 for( uint32_t i = 0; i < 36; i++){
garyservin 0:9e9b7db60fd5 31 union {
garyservin 0:9e9b7db60fd5 32 double real;
garyservin 0:9e9b7db60fd5 33 uint64_t base;
garyservin 0:9e9b7db60fd5 34 } u_covariancei;
garyservin 0:9e9b7db60fd5 35 u_covariancei.real = this->covariance[i];
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->covariance[i]);
garyservin 0:9e9b7db60fd5 45 }
garyservin 0:9e9b7db60fd5 46 return offset;
garyservin 0:9e9b7db60fd5 47 }
garyservin 0:9e9b7db60fd5 48
garyservin 0:9e9b7db60fd5 49 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 50 {
garyservin 0:9e9b7db60fd5 51 int offset = 0;
garyservin 0:9e9b7db60fd5 52 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 53 for( uint32_t i = 0; i < 36; i++){
garyservin 0:9e9b7db60fd5 54 union {
garyservin 0:9e9b7db60fd5 55 double real;
garyservin 0:9e9b7db60fd5 56 uint64_t base;
garyservin 0:9e9b7db60fd5 57 } u_covariancei;
garyservin 0:9e9b7db60fd5 58 u_covariancei.base = 0;
garyservin 0:9e9b7db60fd5 59 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 60 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 61 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 62 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 63 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 64 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 65 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 66 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 67 this->covariance[i] = u_covariancei.real;
garyservin 0:9e9b7db60fd5 68 offset += sizeof(this->covariance[i]);
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70 return offset;
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
garyservin 0:9e9b7db60fd5 74 const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 #endif