![](/media/cache/profiles/94aef38441efa3380a3bed3faf1f9d5d.50x50_q85.jpg)
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
Diff: geometry_msgs/Pose2D.h
- Revision:
- 4:2cbca0ac2569
- Parent:
- 3:dff241b66f84
--- a/geometry_msgs/Pose2D.h Sat Nov 12 23:53:04 2011 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,112 +0,0 @@ -#ifndef _ROS_geometry_msgs_Pose2D_h -#define _ROS_geometry_msgs_Pose2D_h - -#include <stdint.h> -#include <string.h> -#include <stdlib.h> -#include "ros/msg.h" - -namespace geometry_msgs -{ - - class Pose2D : public ros::Msg - { - public: - float x; - float y; - float theta; - - virtual int serialize(unsigned char *outbuffer) const - { - int offset = 0; - int32_t * val_x = (long *) &(this->x); - int32_t exp_x = (((*val_x)>>23)&255); - if(exp_x != 0) - exp_x += 1023-127; - int32_t sig_x = *val_x; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_x<<5) & 0xff; - *(outbuffer + offset++) = (sig_x>>3) & 0xff; - *(outbuffer + offset++) = (sig_x>>11) & 0xff; - *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F); - *(outbuffer + offset++) = (exp_x>>4) & 0x7F; - if(this->x < 0) *(outbuffer + offset -1) |= 0x80; - int32_t * val_y = (long *) &(this->y); - int32_t exp_y = (((*val_y)>>23)&255); - if(exp_y != 0) - exp_y += 1023-127; - int32_t sig_y = *val_y; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_y<<5) & 0xff; - *(outbuffer + offset++) = (sig_y>>3) & 0xff; - *(outbuffer + offset++) = (sig_y>>11) & 0xff; - *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F); - *(outbuffer + offset++) = (exp_y>>4) & 0x7F; - if(this->y < 0) *(outbuffer + offset -1) |= 0x80; - int32_t * val_theta = (long *) &(this->theta); - int32_t exp_theta = (((*val_theta)>>23)&255); - if(exp_theta != 0) - exp_theta += 1023-127; - int32_t sig_theta = *val_theta; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_theta<<5) & 0xff; - *(outbuffer + offset++) = (sig_theta>>3) & 0xff; - *(outbuffer + offset++) = (sig_theta>>11) & 0xff; - *(outbuffer + offset++) = ((exp_theta<<4) & 0xF0) | ((sig_theta>>19)&0x0F); - *(outbuffer + offset++) = (exp_theta>>4) & 0x7F; - if(this->theta < 0) *(outbuffer + offset -1) |= 0x80; - return offset; - } - - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - uint32_t * val_x = (uint32_t*) &(this->x); - offset += 3; - *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_x !=0) - *val_x |= ((exp_x)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x; - uint32_t * val_y = (uint32_t*) &(this->y); - offset += 3; - *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_y !=0) - *val_y |= ((exp_y)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y; - uint32_t * val_theta = (uint32_t*) &(this->theta); - offset += 3; - *val_theta = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_theta = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_theta !=0) - *val_theta |= ((exp_theta)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta; - return offset; - } - - virtual const char * getType(){ return "geometry_msgs/Pose2D"; }; - virtual const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; }; - - }; - -} -#endif \ No newline at end of file