Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

turtlesim/TeleportAbsolute.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_SERVICE_TeleportAbsolute_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_TeleportAbsolute_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7
garyservin 0:9e9b7db60fd5 8 namespace turtlesim
garyservin 0:9e9b7db60fd5 9 {
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 static const char TELEPORTABSOLUTE[] = "turtlesim/TeleportAbsolute";
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class TeleportAbsoluteRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef float _x_type;
garyservin 0:9e9b7db60fd5 17 _x_type x;
garyservin 0:9e9b7db60fd5 18 typedef float _y_type;
garyservin 0:9e9b7db60fd5 19 _y_type y;
garyservin 0:9e9b7db60fd5 20 typedef float _theta_type;
garyservin 0:9e9b7db60fd5 21 _theta_type theta;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 TeleportAbsoluteRequest():
garyservin 0:9e9b7db60fd5 24 x(0),
garyservin 0:9e9b7db60fd5 25 y(0),
garyservin 0:9e9b7db60fd5 26 theta(0)
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 union {
garyservin 0:9e9b7db60fd5 34 float real;
garyservin 0:9e9b7db60fd5 35 uint32_t base;
garyservin 0:9e9b7db60fd5 36 } u_x;
garyservin 0:9e9b7db60fd5 37 u_x.real = this->x;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 43 union {
garyservin 0:9e9b7db60fd5 44 float real;
garyservin 0:9e9b7db60fd5 45 uint32_t base;
garyservin 0:9e9b7db60fd5 46 } u_y;
garyservin 0:9e9b7db60fd5 47 u_y.real = this->y;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 53 union {
garyservin 0:9e9b7db60fd5 54 float real;
garyservin 0:9e9b7db60fd5 55 uint32_t base;
garyservin 0:9e9b7db60fd5 56 } u_theta;
garyservin 0:9e9b7db60fd5 57 u_theta.real = this->theta;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 63 return offset;
garyservin 0:9e9b7db60fd5 64 }
garyservin 0:9e9b7db60fd5 65
garyservin 0:9e9b7db60fd5 66 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 67 {
garyservin 0:9e9b7db60fd5 68 int offset = 0;
garyservin 0:9e9b7db60fd5 69 union {
garyservin 0:9e9b7db60fd5 70 float real;
garyservin 0:9e9b7db60fd5 71 uint32_t base;
garyservin 0:9e9b7db60fd5 72 } u_x;
garyservin 0:9e9b7db60fd5 73 u_x.base = 0;
garyservin 0:9e9b7db60fd5 74 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 75 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 76 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 77 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 78 this->x = u_x.real;
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 80 union {
garyservin 0:9e9b7db60fd5 81 float real;
garyservin 0:9e9b7db60fd5 82 uint32_t base;
garyservin 0:9e9b7db60fd5 83 } u_y;
garyservin 0:9e9b7db60fd5 84 u_y.base = 0;
garyservin 0:9e9b7db60fd5 85 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 86 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 87 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 88 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 89 this->y = u_y.real;
garyservin 0:9e9b7db60fd5 90 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 91 union {
garyservin 0:9e9b7db60fd5 92 float real;
garyservin 0:9e9b7db60fd5 93 uint32_t base;
garyservin 0:9e9b7db60fd5 94 } u_theta;
garyservin 0:9e9b7db60fd5 95 u_theta.base = 0;
garyservin 0:9e9b7db60fd5 96 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 97 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 98 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 99 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 100 this->theta = u_theta.real;
garyservin 0:9e9b7db60fd5 101 offset += sizeof(this->theta);
garyservin 0:9e9b7db60fd5 102 return offset;
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104
garyservin 0:9e9b7db60fd5 105 const char * getType(){ return TELEPORTABSOLUTE; };
garyservin 0:9e9b7db60fd5 106 const char * getMD5(){ return "a130bc60ee6513855dc62ea83fcc5b20"; };
garyservin 0:9e9b7db60fd5 107
garyservin 0:9e9b7db60fd5 108 };
garyservin 0:9e9b7db60fd5 109
garyservin 0:9e9b7db60fd5 110 class TeleportAbsoluteResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 111 {
garyservin 0:9e9b7db60fd5 112 public:
garyservin 0:9e9b7db60fd5 113
garyservin 0:9e9b7db60fd5 114 TeleportAbsoluteResponse()
garyservin 0:9e9b7db60fd5 115 {
garyservin 0:9e9b7db60fd5 116 }
garyservin 0:9e9b7db60fd5 117
garyservin 0:9e9b7db60fd5 118 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 119 {
garyservin 0:9e9b7db60fd5 120 int offset = 0;
garyservin 0:9e9b7db60fd5 121 return offset;
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123
garyservin 0:9e9b7db60fd5 124 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 125 {
garyservin 0:9e9b7db60fd5 126 int offset = 0;
garyservin 0:9e9b7db60fd5 127 return offset;
garyservin 0:9e9b7db60fd5 128 }
garyservin 0:9e9b7db60fd5 129
garyservin 0:9e9b7db60fd5 130 const char * getType(){ return TELEPORTABSOLUTE; };
garyservin 0:9e9b7db60fd5 131 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 };
garyservin 0:9e9b7db60fd5 134
garyservin 0:9e9b7db60fd5 135 class TeleportAbsolute {
garyservin 0:9e9b7db60fd5 136 public:
garyservin 0:9e9b7db60fd5 137 typedef TeleportAbsoluteRequest Request;
garyservin 0:9e9b7db60fd5 138 typedef TeleportAbsoluteResponse Response;
garyservin 0:9e9b7db60fd5 139 };
garyservin 0:9e9b7db60fd5 140
garyservin 0:9e9b7db60fd5 141 }
garyservin 0:9e9b7db60fd5 142 #endif