![](/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
geometry_msgs/Pose2D.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:098e75fd5ad2
- Parent:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
File content as of revision 1:098e75fd5ad2:
#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) { int offset = 0; long * val_x = (long *) &(this->x); long exp_x = (((*val_x)>>23)&255); if(exp_x != 0) exp_x += 1023-127; long 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; long * val_y = (long *) &(this->y); long exp_y = (((*val_y)>>23)&255); if(exp_y != 0) exp_y += 1023-127; long 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; long * val_theta = (long *) &(this->theta); long exp_theta = (((*val_theta)>>23)&255); if(exp_theta != 0) exp_theta += 1023-127; long 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; unsigned long * val_x = (unsigned long*) &(this->x); offset += 3; *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_x !=0) *val_x |= ((exp_x)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x; unsigned long * val_y = (unsigned long*) &(this->y); offset += 3; *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_y !=0) *val_y |= ((exp_y)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y; unsigned long * val_theta = (unsigned long*) &(this->theta); offset += 3; *val_theta = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; *val_theta |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; unsigned long exp_theta = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; exp_theta |= ((unsigned long)(*(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"; }; }; } #endif