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
nav_msgs/GetPlan.h
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
File content as of revision 0:06fc856e99ca:
#ifndef ros_SERVICE_GetPlan_h #define ros_SERVICE_GetPlan_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" #include "geometry_msgs/PoseStamped.h" #include "nav_msgs/Path.h" namespace nav_msgs { static const char GETPLAN[] = "nav_msgs/GetPlan"; class GetPlanRequest : public ros::Msg { public: geometry_msgs::PoseStamped start; geometry_msgs::PoseStamped goal; float tolerance; virtual int serialize(unsigned char *outbuffer) { int offset = 0; offset += this->start.serialize(outbuffer + offset); offset += this->goal.serialize(outbuffer + offset); union { float real; unsigned long base; } u_tolerance; u_tolerance.real = this->tolerance; *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF; offset += sizeof(this->tolerance); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->start.deserialize(inbuffer + offset); offset += this->goal.deserialize(inbuffer + offset); union { float real; unsigned long base; } u_tolerance; u_tolerance.base = 0; u_tolerance.base |= ((typeof(u_tolerance.base)) (*(inbuffer + offset + 0))) << (8 * 0); u_tolerance.base |= ((typeof(u_tolerance.base)) (*(inbuffer + offset + 1))) << (8 * 1); u_tolerance.base |= ((typeof(u_tolerance.base)) (*(inbuffer + offset + 2))) << (8 * 2); u_tolerance.base |= ((typeof(u_tolerance.base)) (*(inbuffer + offset + 3))) << (8 * 3); this->tolerance = u_tolerance.real; offset += sizeof(this->tolerance); return offset; } const char * getType(){ return GETPLAN; }; }; class GetPlanResponse : public ros::Msg { public: nav_msgs::Path plan; virtual int serialize(unsigned char *outbuffer) { int offset = 0; offset += this->plan.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->plan.deserialize(inbuffer + offset); return offset; } virtual const char * getType(){ return GETPLAN; }; }; } #endif