ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

geometry_msgs/PoseWithCovariance.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_geometry_msgs_PoseWithCovariance_h
garyservin 0:fd24f7ca9688 2 #define _ROS_geometry_msgs_PoseWithCovariance_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "geometry_msgs/Pose.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace geometry_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class PoseWithCovariance : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 geometry_msgs::Pose pose;
garyservin 0:fd24f7ca9688 17 double covariance[36];
garyservin 0:fd24f7ca9688 18
garyservin 0:fd24f7ca9688 19 PoseWithCovariance():
garyservin 0:fd24f7ca9688 20 pose(),
garyservin 0:fd24f7ca9688 21 covariance()
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 }
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 int offset = 0;
garyservin 0:fd24f7ca9688 28 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 29 for( uint8_t i = 0; i < 36; i++){
garyservin 0:fd24f7ca9688 30 union {
garyservin 0:fd24f7ca9688 31 double real;
garyservin 0:fd24f7ca9688 32 uint64_t base;
garyservin 0:fd24f7ca9688 33 } u_covariancei;
garyservin 0:fd24f7ca9688 34 u_covariancei.real = this->covariance[i];
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 43 offset += sizeof(this->covariance[i]);
garyservin 0:fd24f7ca9688 44 }
garyservin 0:fd24f7ca9688 45 return offset;
garyservin 0:fd24f7ca9688 46 }
garyservin 0:fd24f7ca9688 47
garyservin 0:fd24f7ca9688 48 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 49 {
garyservin 0:fd24f7ca9688 50 int offset = 0;
garyservin 0:fd24f7ca9688 51 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 52 for( uint8_t i = 0; i < 36; i++){
garyservin 0:fd24f7ca9688 53 union {
garyservin 0:fd24f7ca9688 54 double real;
garyservin 0:fd24f7ca9688 55 uint64_t base;
garyservin 0:fd24f7ca9688 56 } u_covariancei;
garyservin 0:fd24f7ca9688 57 u_covariancei.base = 0;
garyservin 0:fd24f7ca9688 58 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 59 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 60 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 61 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 62 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 63 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 64 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 65 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 66 this->covariance[i] = u_covariancei.real;
garyservin 0:fd24f7ca9688 67 offset += sizeof(this->covariance[i]);
garyservin 0:fd24f7ca9688 68 }
garyservin 0:fd24f7ca9688 69 return offset;
garyservin 0:fd24f7ca9688 70 }
garyservin 0:fd24f7ca9688 71
garyservin 0:fd24f7ca9688 72 const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
garyservin 0:fd24f7ca9688 73 const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
garyservin 0:fd24f7ca9688 74
garyservin 0:fd24f7ca9688 75 };
garyservin 0:fd24f7ca9688 76
garyservin 0:fd24f7ca9688 77 }
garyservin 0:fd24f7ca9688 78 #endif