Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

nav_msgs/Path.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_nav_msgs_Path_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_nav_msgs_Path_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/PoseStamped.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace nav_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class Path : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 uint32_t poses_length;
garyservin 0:9e9b7db60fd5 20 typedef geometry_msgs::PoseStamped _poses_type;
garyservin 0:9e9b7db60fd5 21 _poses_type st_poses;
garyservin 0:9e9b7db60fd5 22 _poses_type * poses;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 Path():
garyservin 0:9e9b7db60fd5 25 header(),
garyservin 0:9e9b7db60fd5 26 poses_length(0), poses(NULL)
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 }
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 int offset = 0;
garyservin 0:9e9b7db60fd5 33 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 offset += sizeof(this->poses_length);
garyservin 0:9e9b7db60fd5 39 for( uint32_t i = 0; i < poses_length; i++){
garyservin 0:9e9b7db60fd5 40 offset += this->poses[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 41 }
garyservin 0:9e9b7db60fd5 42 return offset;
garyservin 0:9e9b7db60fd5 43 }
garyservin 0:9e9b7db60fd5 44
garyservin 0:9e9b7db60fd5 45 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 46 {
garyservin 0:9e9b7db60fd5 47 int offset = 0;
garyservin 0:9e9b7db60fd5 48 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 49 uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 50 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 51 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 52 poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 53 offset += sizeof(this->poses_length);
garyservin 0:9e9b7db60fd5 54 if(poses_lengthT > poses_length)
garyservin 0:9e9b7db60fd5 55 this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped));
garyservin 0:9e9b7db60fd5 56 poses_length = poses_lengthT;
garyservin 0:9e9b7db60fd5 57 for( uint32_t i = 0; i < poses_length; i++){
garyservin 0:9e9b7db60fd5 58 offset += this->st_poses.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 59 memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped));
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61 return offset;
garyservin 0:9e9b7db60fd5 62 }
garyservin 0:9e9b7db60fd5 63
garyservin 0:9e9b7db60fd5 64 const char * getType(){ return "nav_msgs/Path"; };
garyservin 0:9e9b7db60fd5 65 const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; };
garyservin 0:9e9b7db60fd5 66
garyservin 0:9e9b7db60fd5 67 };
garyservin 0:9e9b7db60fd5 68
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70 #endif