modify for Hydro version
Fork of rosserial_mbed_lib by
nav_msgs/GetPlan.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 6:3c54bc7badd4 | 1 | #ifndef _ROS_SERVICE_GetPlan_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_SERVICE_GetPlan_h |
jjzak | 6:3c54bc7badd4 | 3 | #include <stdint.h> |
jjzak | 6:3c54bc7badd4 | 4 | #include <string.h> |
jjzak | 6:3c54bc7badd4 | 5 | #include <stdlib.h> |
jjzak | 6:3c54bc7badd4 | 6 | #include "ros/msg.h" |
jjzak | 6:3c54bc7badd4 | 7 | #include "geometry_msgs/PoseStamped.h" |
jjzak | 6:3c54bc7badd4 | 8 | #include "nav_msgs/Path.h" |
jjzak | 6:3c54bc7badd4 | 9 | |
jjzak | 6:3c54bc7badd4 | 10 | namespace nav_msgs |
jjzak | 6:3c54bc7badd4 | 11 | { |
jjzak | 6:3c54bc7badd4 | 12 | |
jjzak | 6:3c54bc7badd4 | 13 | static const char GETPLAN[] = "nav_msgs/GetPlan"; |
jjzak | 6:3c54bc7badd4 | 14 | |
jjzak | 6:3c54bc7badd4 | 15 | class GetPlanRequest : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 16 | { |
jjzak | 6:3c54bc7badd4 | 17 | public: |
jjzak | 6:3c54bc7badd4 | 18 | geometry_msgs::PoseStamped start; |
jjzak | 6:3c54bc7badd4 | 19 | geometry_msgs::PoseStamped goal; |
jjzak | 6:3c54bc7badd4 | 20 | float tolerance; |
jjzak | 6:3c54bc7badd4 | 21 | |
jjzak | 6:3c54bc7badd4 | 22 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 23 | { |
jjzak | 6:3c54bc7badd4 | 24 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 25 | offset += this->start.serialize(outbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 26 | offset += this->goal.serialize(outbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 27 | union { |
jjzak | 6:3c54bc7badd4 | 28 | float real; |
jjzak | 6:3c54bc7badd4 | 29 | uint32_t base; |
jjzak | 6:3c54bc7badd4 | 30 | } u_tolerance; |
jjzak | 6:3c54bc7badd4 | 31 | u_tolerance.real = this->tolerance; |
jjzak | 6:3c54bc7badd4 | 32 | *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 33 | *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 34 | *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 35 | *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF; |
jjzak | 6:3c54bc7badd4 | 36 | offset += sizeof(this->tolerance); |
jjzak | 6:3c54bc7badd4 | 37 | return offset; |
jjzak | 6:3c54bc7badd4 | 38 | } |
jjzak | 6:3c54bc7badd4 | 39 | |
jjzak | 6:3c54bc7badd4 | 40 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 41 | { |
jjzak | 6:3c54bc7badd4 | 42 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 43 | offset += this->start.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 44 | offset += this->goal.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 45 | union { |
jjzak | 6:3c54bc7badd4 | 46 | float real; |
jjzak | 6:3c54bc7badd4 | 47 | uint32_t base; |
jjzak | 6:3c54bc7badd4 | 48 | } u_tolerance; |
jjzak | 6:3c54bc7badd4 | 49 | u_tolerance.base = 0; |
jjzak | 6:3c54bc7badd4 | 50 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 6:3c54bc7badd4 | 51 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 6:3c54bc7badd4 | 52 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 6:3c54bc7badd4 | 53 | u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 6:3c54bc7badd4 | 54 | this->tolerance = u_tolerance.real; |
jjzak | 6:3c54bc7badd4 | 55 | offset += sizeof(this->tolerance); |
jjzak | 6:3c54bc7badd4 | 56 | return offset; |
jjzak | 6:3c54bc7badd4 | 57 | } |
jjzak | 6:3c54bc7badd4 | 58 | |
jjzak | 6:3c54bc7badd4 | 59 | const char * getType(){ return GETPLAN; }; |
jjzak | 6:3c54bc7badd4 | 60 | const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; }; |
jjzak | 6:3c54bc7badd4 | 61 | |
jjzak | 6:3c54bc7badd4 | 62 | }; |
jjzak | 6:3c54bc7badd4 | 63 | |
jjzak | 6:3c54bc7badd4 | 64 | class GetPlanResponse : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 65 | { |
jjzak | 6:3c54bc7badd4 | 66 | public: |
jjzak | 6:3c54bc7badd4 | 67 | nav_msgs::Path plan; |
jjzak | 6:3c54bc7badd4 | 68 | |
jjzak | 6:3c54bc7badd4 | 69 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 70 | { |
jjzak | 6:3c54bc7badd4 | 71 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 72 | offset += this->plan.serialize(outbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 73 | return offset; |
jjzak | 6:3c54bc7badd4 | 74 | } |
jjzak | 6:3c54bc7badd4 | 75 | |
jjzak | 6:3c54bc7badd4 | 76 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 77 | { |
jjzak | 6:3c54bc7badd4 | 78 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 79 | offset += this->plan.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 80 | return offset; |
jjzak | 6:3c54bc7badd4 | 81 | } |
jjzak | 6:3c54bc7badd4 | 82 | |
jjzak | 6:3c54bc7badd4 | 83 | const char * getType(){ return GETPLAN; }; |
jjzak | 6:3c54bc7badd4 | 84 | const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; }; |
jjzak | 6:3c54bc7badd4 | 85 | |
jjzak | 6:3c54bc7badd4 | 86 | }; |
jjzak | 6:3c54bc7badd4 | 87 | |
jjzak | 6:3c54bc7badd4 | 88 | class GetPlan { |
jjzak | 6:3c54bc7badd4 | 89 | public: |
jjzak | 6:3c54bc7badd4 | 90 | typedef GetPlanRequest Request; |
jjzak | 6:3c54bc7badd4 | 91 | typedef GetPlanResponse Response; |
jjzak | 6:3c54bc7badd4 | 92 | }; |
jjzak | 6:3c54bc7badd4 | 93 | |
jjzak | 6:3c54bc7badd4 | 94 | } |
jjzak | 6:3c54bc7badd4 | 95 | #endif |
jjzak | 6:3c54bc7badd4 | 96 |