jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

nav_msgs/Odometry.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?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_nav_msgs_Odometry_h
jjzak 6:3c54bc7badd4 2 #define _ROS_nav_msgs_Odometry_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "std_msgs/Header.h"
jjzak 6:3c54bc7badd4 9 #include "geometry_msgs/PoseWithCovariance.h"
jjzak 6:3c54bc7badd4 10 #include "geometry_msgs/TwistWithCovariance.h"
jjzak 6:3c54bc7badd4 11
jjzak 6:3c54bc7badd4 12 namespace nav_msgs
jjzak 6:3c54bc7badd4 13 {
jjzak 6:3c54bc7badd4 14
jjzak 6:3c54bc7badd4 15 class Odometry : public ros::Msg
jjzak 6:3c54bc7badd4 16 {
jjzak 6:3c54bc7badd4 17 public:
jjzak 6:3c54bc7badd4 18 std_msgs::Header header;
jjzak 6:3c54bc7badd4 19 char * child_frame_id;
jjzak 6:3c54bc7badd4 20 geometry_msgs::PoseWithCovariance pose;
jjzak 6:3c54bc7badd4 21 geometry_msgs::TwistWithCovariance twist;
jjzak 6:3c54bc7badd4 22
jjzak 6:3c54bc7badd4 23 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 24 {
jjzak 6:3c54bc7badd4 25 int offset = 0;
jjzak 6:3c54bc7badd4 26 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 27 uint32_t length_child_frame_id = strlen( (const char*) this->child_frame_id);
jjzak 6:3c54bc7badd4 28 memcpy(outbuffer + offset, &length_child_frame_id, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 29 offset += 4;
jjzak 6:3c54bc7badd4 30 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
jjzak 6:3c54bc7badd4 31 offset += length_child_frame_id;
jjzak 6:3c54bc7badd4 32 offset += this->pose.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 33 offset += this->twist.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 34 return offset;
jjzak 6:3c54bc7badd4 35 }
jjzak 6:3c54bc7badd4 36
jjzak 6:3c54bc7badd4 37 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 38 {
jjzak 6:3c54bc7badd4 39 int offset = 0;
jjzak 6:3c54bc7badd4 40 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 41 uint32_t length_child_frame_id;
jjzak 6:3c54bc7badd4 42 memcpy(&length_child_frame_id, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 43 offset += 4;
jjzak 6:3c54bc7badd4 44 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
jjzak 6:3c54bc7badd4 45 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 46 }
jjzak 6:3c54bc7badd4 47 inbuffer[offset+length_child_frame_id-1]=0;
jjzak 6:3c54bc7badd4 48 this->child_frame_id = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 49 offset += length_child_frame_id;
jjzak 6:3c54bc7badd4 50 offset += this->pose.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 51 offset += this->twist.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 52 return offset;
jjzak 6:3c54bc7badd4 53 }
jjzak 6:3c54bc7badd4 54
jjzak 6:3c54bc7badd4 55 const char * getType(){ return "nav_msgs/Odometry"; };
jjzak 6:3c54bc7badd4 56 const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
jjzak 6:3c54bc7badd4 57
jjzak 6:3c54bc7badd4 58 };
jjzak 6:3c54bc7badd4 59
jjzak 6:3c54bc7badd4 60 }
jjzak 6:3c54bc7badd4 61 #endif