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

nav_msgs/Odometry.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_nav_msgs_Odometry_h
#define _ROS_nav_msgs_Odometry_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/PoseWithCovariance.h"
#include "geometry_msgs/TwistWithCovariance.h"

namespace nav_msgs
{

  class Odometry : public ros::Msg
  {
    public:
      typedef std_msgs::Header _header_type;
      _header_type header;
      typedef const char* _child_frame_id_type;
      _child_frame_id_type child_frame_id;
      typedef geometry_msgs::PoseWithCovariance _pose_type;
      _pose_type pose;
      typedef geometry_msgs::TwistWithCovariance _twist_type;
      _twist_type twist;

    Odometry():
      header(),
      child_frame_id(""),
      pose(),
      twist()
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      uint32_t length_child_frame_id = strlen(this->child_frame_id);
      varToArr(outbuffer + offset, length_child_frame_id);
      offset += 4;
      memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
      offset += length_child_frame_id;
      offset += this->pose.serialize(outbuffer + offset);
      offset += this->twist.serialize(outbuffer + offset);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      uint32_t length_child_frame_id;
      arrToVar(length_child_frame_id, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_child_frame_id-1]=0;
      this->child_frame_id = (char *)(inbuffer + offset-1);
      offset += length_child_frame_id;
      offset += this->pose.deserialize(inbuffer + offset);
      offset += this->twist.deserialize(inbuffer + offset);
     return offset;
    }

    const char * getType(){ return "nav_msgs/Odometry"; };
    const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };

  };

}
#endif