Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

nav_msgs/Odometry.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_nav_msgs_Odometry_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_nav_msgs_Odometry_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 "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/PoseWithCovariance.h"
garyservin 0:9e9b7db60fd5 10 #include "geometry_msgs/TwistWithCovariance.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace nav_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class Odometry : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 19 _header_type header;
garyservin 0:9e9b7db60fd5 20 typedef const char* _child_frame_id_type;
garyservin 0:9e9b7db60fd5 21 _child_frame_id_type child_frame_id;
garyservin 0:9e9b7db60fd5 22 typedef geometry_msgs::PoseWithCovariance _pose_type;
garyservin 0:9e9b7db60fd5 23 _pose_type pose;
garyservin 0:9e9b7db60fd5 24 typedef geometry_msgs::TwistWithCovariance _twist_type;
garyservin 0:9e9b7db60fd5 25 _twist_type twist;
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 Odometry():
garyservin 0:9e9b7db60fd5 28 header(),
garyservin 0:9e9b7db60fd5 29 child_frame_id(""),
garyservin 0:9e9b7db60fd5 30 pose(),
garyservin 0:9e9b7db60fd5 31 twist()
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 39 uint32_t length_child_frame_id = strlen(this->child_frame_id);
garyservin 0:9e9b7db60fd5 40 varToArr(outbuffer + offset, length_child_frame_id);
garyservin 0:9e9b7db60fd5 41 offset += 4;
garyservin 0:9e9b7db60fd5 42 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
garyservin 0:9e9b7db60fd5 43 offset += length_child_frame_id;
garyservin 0:9e9b7db60fd5 44 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 45 offset += this->twist.serialize(outbuffer + offset);
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->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 53 uint32_t length_child_frame_id;
garyservin 0:9e9b7db60fd5 54 arrToVar(length_child_frame_id, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 55 offset += 4;
garyservin 0:9e9b7db60fd5 56 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
garyservin 0:9e9b7db60fd5 57 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59 inbuffer[offset+length_child_frame_id-1]=0;
garyservin 0:9e9b7db60fd5 60 this->child_frame_id = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 61 offset += length_child_frame_id;
garyservin 0:9e9b7db60fd5 62 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 63 offset += this->twist.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 64 return offset;
garyservin 0:9e9b7db60fd5 65 }
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 const char * getType(){ return "nav_msgs/Odometry"; };
garyservin 0:9e9b7db60fd5 68 const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
garyservin 0:9e9b7db60fd5 69
garyservin 0:9e9b7db60fd5 70 };
garyservin 0:9e9b7db60fd5 71
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 #endif