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

nav_msgs/Odometry.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_nav_msgs_Odometry_h
garyservin 0:fd24f7ca9688 2 #define _ROS_nav_msgs_Odometry_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 "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/PoseWithCovariance.h"
garyservin 0:fd24f7ca9688 10 #include "geometry_msgs/TwistWithCovariance.h"
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 namespace nav_msgs
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14
garyservin 0:fd24f7ca9688 15 class Odometry : public ros::Msg
garyservin 0:fd24f7ca9688 16 {
garyservin 0:fd24f7ca9688 17 public:
garyservin 0:fd24f7ca9688 18 std_msgs::Header header;
garyservin 0:fd24f7ca9688 19 const char* child_frame_id;
garyservin 0:fd24f7ca9688 20 geometry_msgs::PoseWithCovariance pose;
garyservin 0:fd24f7ca9688 21 geometry_msgs::TwistWithCovariance twist;
garyservin 0:fd24f7ca9688 22
garyservin 0:fd24f7ca9688 23 Odometry():
garyservin 0:fd24f7ca9688 24 header(),
garyservin 0:fd24f7ca9688 25 child_frame_id(""),
garyservin 0:fd24f7ca9688 26 pose(),
garyservin 0:fd24f7ca9688 27 twist()
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 }
garyservin 0:fd24f7ca9688 30
garyservin 0:fd24f7ca9688 31 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 32 {
garyservin 0:fd24f7ca9688 33 int offset = 0;
garyservin 0:fd24f7ca9688 34 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 35 uint32_t length_child_frame_id = strlen(this->child_frame_id);
garyservin 0:fd24f7ca9688 36 memcpy(outbuffer + offset, &length_child_frame_id, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 37 offset += 4;
garyservin 0:fd24f7ca9688 38 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
garyservin 0:fd24f7ca9688 39 offset += length_child_frame_id;
garyservin 0:fd24f7ca9688 40 offset += this->pose.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 41 offset += this->twist.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 42 return offset;
garyservin 0:fd24f7ca9688 43 }
garyservin 0:fd24f7ca9688 44
garyservin 0:fd24f7ca9688 45 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 46 {
garyservin 0:fd24f7ca9688 47 int offset = 0;
garyservin 0:fd24f7ca9688 48 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 49 uint32_t length_child_frame_id;
garyservin 0:fd24f7ca9688 50 memcpy(&length_child_frame_id, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 51 offset += 4;
garyservin 0:fd24f7ca9688 52 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
garyservin 0:fd24f7ca9688 53 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 54 }
garyservin 0:fd24f7ca9688 55 inbuffer[offset+length_child_frame_id-1]=0;
garyservin 0:fd24f7ca9688 56 this->child_frame_id = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 57 offset += length_child_frame_id;
garyservin 0:fd24f7ca9688 58 offset += this->pose.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 59 offset += this->twist.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 60 return offset;
garyservin 0:fd24f7ca9688 61 }
garyservin 0:fd24f7ca9688 62
garyservin 0:fd24f7ca9688 63 const char * getType(){ return "nav_msgs/Odometry"; };
garyservin 0:fd24f7ca9688 64 const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
garyservin 0:fd24f7ca9688 65
garyservin 0:fd24f7ca9688 66 };
garyservin 0:fd24f7ca9688 67
garyservin 0:fd24f7ca9688 68 }
garyservin 0:fd24f7ca9688 69 #endif