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

turtlesim/TeleportRelative.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_SERVICE_TeleportRelative_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_TeleportRelative_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7
garyservin 0:fd24f7ca9688 8 namespace turtlesim
garyservin 0:fd24f7ca9688 9 {
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 static const char TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class TeleportRelativeRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 float linear;
garyservin 0:fd24f7ca9688 17 float angular;
garyservin 0:fd24f7ca9688 18
garyservin 0:fd24f7ca9688 19 TeleportRelativeRequest():
garyservin 0:fd24f7ca9688 20 linear(0),
garyservin 0:fd24f7ca9688 21 angular(0)
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 union {
garyservin 0:fd24f7ca9688 29 float real;
garyservin 0:fd24f7ca9688 30 uint32_t base;
garyservin 0:fd24f7ca9688 31 } u_linear;
garyservin 0:fd24f7ca9688 32 u_linear.real = this->linear;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 37 offset += sizeof(this->linear);
garyservin 0:fd24f7ca9688 38 union {
garyservin 0:fd24f7ca9688 39 float real;
garyservin 0:fd24f7ca9688 40 uint32_t base;
garyservin 0:fd24f7ca9688 41 } u_angular;
garyservin 0:fd24f7ca9688 42 u_angular.real = this->angular;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 47 offset += sizeof(this->angular);
garyservin 0:fd24f7ca9688 48 return offset;
garyservin 0:fd24f7ca9688 49 }
garyservin 0:fd24f7ca9688 50
garyservin 0:fd24f7ca9688 51 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 52 {
garyservin 0:fd24f7ca9688 53 int offset = 0;
garyservin 0:fd24f7ca9688 54 union {
garyservin 0:fd24f7ca9688 55 float real;
garyservin 0:fd24f7ca9688 56 uint32_t base;
garyservin 0:fd24f7ca9688 57 } u_linear;
garyservin 0:fd24f7ca9688 58 u_linear.base = 0;
garyservin 0:fd24f7ca9688 59 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 60 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 62 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 63 this->linear = u_linear.real;
garyservin 0:fd24f7ca9688 64 offset += sizeof(this->linear);
garyservin 0:fd24f7ca9688 65 union {
garyservin 0:fd24f7ca9688 66 float real;
garyservin 0:fd24f7ca9688 67 uint32_t base;
garyservin 0:fd24f7ca9688 68 } u_angular;
garyservin 0:fd24f7ca9688 69 u_angular.base = 0;
garyservin 0:fd24f7ca9688 70 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 71 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 73 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 74 this->angular = u_angular.real;
garyservin 0:fd24f7ca9688 75 offset += sizeof(this->angular);
garyservin 0:fd24f7ca9688 76 return offset;
garyservin 0:fd24f7ca9688 77 }
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 const char * getType(){ return TELEPORTRELATIVE; };
garyservin 0:fd24f7ca9688 80 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
garyservin 0:fd24f7ca9688 81
garyservin 0:fd24f7ca9688 82 };
garyservin 0:fd24f7ca9688 83
garyservin 0:fd24f7ca9688 84 class TeleportRelativeResponse : public ros::Msg
garyservin 0:fd24f7ca9688 85 {
garyservin 0:fd24f7ca9688 86 public:
garyservin 0:fd24f7ca9688 87
garyservin 0:fd24f7ca9688 88 TeleportRelativeResponse()
garyservin 0:fd24f7ca9688 89 {
garyservin 0:fd24f7ca9688 90 }
garyservin 0:fd24f7ca9688 91
garyservin 0:fd24f7ca9688 92 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 93 {
garyservin 0:fd24f7ca9688 94 int offset = 0;
garyservin 0:fd24f7ca9688 95 return offset;
garyservin 0:fd24f7ca9688 96 }
garyservin 0:fd24f7ca9688 97
garyservin 0:fd24f7ca9688 98 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 99 {
garyservin 0:fd24f7ca9688 100 int offset = 0;
garyservin 0:fd24f7ca9688 101 return offset;
garyservin 0:fd24f7ca9688 102 }
garyservin 0:fd24f7ca9688 103
garyservin 0:fd24f7ca9688 104 const char * getType(){ return TELEPORTRELATIVE; };
garyservin 0:fd24f7ca9688 105 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 106
garyservin 0:fd24f7ca9688 107 };
garyservin 0:fd24f7ca9688 108
garyservin 0:fd24f7ca9688 109 class TeleportRelative {
garyservin 0:fd24f7ca9688 110 public:
garyservin 0:fd24f7ca9688 111 typedef TeleportRelativeRequest Request;
garyservin 0:fd24f7ca9688 112 typedef TeleportRelativeResponse Response;
garyservin 0:fd24f7ca9688 113 };
garyservin 0:fd24f7ca9688 114
garyservin 0:fd24f7ca9688 115 }
garyservin 0:fd24f7ca9688 116 #endif