nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

nav_msgs/Odometry.h@4:684f39d0c346, 2012-02-29 (annotated)

Committer:
nucho
Date:
Wed Feb 29 23:00:21 2012 +0000
Revision:
4:684f39d0c346
Parent:
3:1cf99502f396 

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


nucho

3:1cf99502f396


     1

#ifndef _ROS_nav_msgs_Odometry_h





nucho

3:1cf99502f396


     2

#define _ROS_nav_msgs_Odometry_h





nucho

0:77afd7560544


     3







nucho

0:77afd7560544


     4

#include <stdint.h>





nucho

0:77afd7560544


     5

#include <string.h>





nucho

0:77afd7560544


     6

#include <stdlib.h>





nucho

3:1cf99502f396


     7

#include "ros/msg.h"





nucho

0:77afd7560544


     8

#include "std_msgs/Header.h"





nucho

0:77afd7560544


     9

#include "geometry_msgs/PoseWithCovariance.h"





nucho

0:77afd7560544


    10

#include "geometry_msgs/TwistWithCovariance.h"





nucho

0:77afd7560544


    11







nucho

0:77afd7560544


    12

namespace nav_msgs





nucho

0:77afd7560544


    13

{





nucho

0:77afd7560544


    14







nucho

0:77afd7560544


    15

  class Odometry : public ros::Msg





nucho

0:77afd7560544


    16

  {





nucho

0:77afd7560544


    17

    public:





nucho

0:77afd7560544


    18

      std_msgs::Header header;





nucho

0:77afd7560544


    19

      char * child_frame_id;





nucho

0:77afd7560544


    20

      geometry_msgs::PoseWithCovariance pose;





nucho

0:77afd7560544


    21

      geometry_msgs::TwistWithCovariance twist;





nucho

0:77afd7560544


    22







nucho

3:1cf99502f396


    23

    virtual int serialize(unsigned char *outbuffer) const





nucho

0:77afd7560544


    24

    {





nucho

0:77afd7560544


    25

      int offset = 0;





nucho

0:77afd7560544


    26

      offset += this->header.serialize(outbuffer + offset);





nucho

3:1cf99502f396


    27

      uint32_t * length_child_frame_id = (uint32_t *)(outbuffer + offset);





nucho

0:77afd7560544


    28

      *length_child_frame_id = strlen( (const char*) this->child_frame_id);





nucho

0:77afd7560544


    29

      offset += 4;





nucho

0:77afd7560544


    30

      memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id);





nucho

0:77afd7560544


    31

      offset += *length_child_frame_id;





nucho

0:77afd7560544


    32

      offset += this->pose.serialize(outbuffer + offset);





nucho

0:77afd7560544


    33

      offset += this->twist.serialize(outbuffer + offset);





nucho

0:77afd7560544


    34

      return offset;





nucho

0:77afd7560544


    35

    }





nucho

0:77afd7560544


    36







nucho

0:77afd7560544


    37

    virtual int deserialize(unsigned char *inbuffer)





nucho

0:77afd7560544


    38

    {





nucho

0:77afd7560544


    39

      int offset = 0;





nucho

0:77afd7560544


    40

      offset += this->header.deserialize(inbuffer + offset);





nucho

0:77afd7560544


    41

      uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset);





nucho

0:77afd7560544


    42

      offset += 4;





nucho

0:77afd7560544


    43

      for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){





nucho

0:77afd7560544


    44

          inbuffer[k-1]=inbuffer[k];





nucho

3:1cf99502f396


    45

      }





nucho

0:77afd7560544


    46

      inbuffer[offset+length_child_frame_id-1]=0;





nucho

0:77afd7560544


    47

      this->child_frame_id = (char *)(inbuffer + offset-1);





nucho

0:77afd7560544


    48

      offset += length_child_frame_id;





nucho

0:77afd7560544


    49

      offset += this->pose.deserialize(inbuffer + offset);





nucho

0:77afd7560544


    50

      offset += this->twist.deserialize(inbuffer + offset);





nucho

0:77afd7560544


    51

     return offset;





nucho

0:77afd7560544


    52

    }





nucho

0:77afd7560544


    53







nucho

3:1cf99502f396


    54

    virtual const char * getType(){ return "nav_msgs/Odometry"; };





nucho

3:1cf99502f396


    55

    virtual const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };





nucho

0:77afd7560544


    56







nucho

0:77afd7560544


    57

  };





nucho

0:77afd7560544


    58







nucho

0:77afd7560544


    59

}





nucho

0:77afd7560544


    60

#endif