Jacob Hernandez
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
Fork of
ros_lib_kinetic
by 
Gary Servin
Diff: turtlesim/Pose.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/Pose.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,158 @@
+#ifndef _ROS_turtlesim_Pose_h
+#define _ROS_turtlesim_Pose_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+ class Pose : public ros::Msg
+ {
+ public:
+ typedef float _x_type;
+ _x_type x;
+ typedef float _y_type;
+ _y_type y;
+ typedef float _theta_type;
+ _theta_type theta;
+ typedef float _linear_velocity_type;
+ _linear_velocity_type linear_velocity;
+ typedef float _angular_velocity_type;
+ _angular_velocity_type angular_velocity;
+
+ Pose():
+ x(0),
+ y(0),
+ theta(0),
+ linear_velocity(0),
+ angular_velocity(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ union {
+ float real;
+ uint32_t base;
+ } u_x;
+ u_x.real = this->x;
+ *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->x);
+ union {
+ float real;
+ uint32_t base;
+ } u_y;
+ u_y.real = this->y;
+ *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->y);
+ union {
+ float real;
+ uint32_t base;
+ } u_theta;
+ u_theta.real = this->theta;
+ *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->theta);
+ union {
+ float real;
+ uint32_t base;
+ } u_linear_velocity;
+ u_linear_velocity.real = this->linear_velocity;
+ *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->linear_velocity);
+ union {
+ float real;
+ uint32_t base;
+ } u_angular_velocity;
+ u_angular_velocity.real = this->angular_velocity;
+ *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->angular_velocity);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ union {
+ float real;
+ uint32_t base;
+ } u_x;
+ u_x.base = 0;
+ u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->x = u_x.real;
+ offset += sizeof(this->x);
+ union {
+ float real;
+ uint32_t base;
+ } u_y;
+ u_y.base = 0;
+ u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->y = u_y.real;
+ offset += sizeof(this->y);
+ union {
+ float real;
+ uint32_t base;
+ } u_theta;
+ u_theta.base = 0;
+ u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->theta = u_theta.real;
+ offset += sizeof(this->theta);
+ union {
+ float real;
+ uint32_t base;
+ } u_linear_velocity;
+ u_linear_velocity.base = 0;
+ u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->linear_velocity = u_linear_velocity.real;
+ offset += sizeof(this->linear_velocity);
+ union {
+ float real;
+ uint32_t base;
+ } u_angular_velocity;
+ u_angular_velocity.base = 0;
+ u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->angular_velocity = u_angular_velocity.real;
+ offset += sizeof(this->angular_velocity);
+ return offset;
+ }
+
+ const char * getType(){ return "turtlesim/Pose"; };
+ const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
+
+ };
+
+}
+#endif
\ No newline at end of file