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/Pose.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_turtlesim_Pose_h
garyservin 0:fd24f7ca9688 2 #define _ROS_turtlesim_Pose_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
garyservin 0:fd24f7ca9688 9 namespace turtlesim
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class Pose : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 float x;
garyservin 0:fd24f7ca9688 16 float y;
garyservin 0:fd24f7ca9688 17 float theta;
garyservin 0:fd24f7ca9688 18 float linear_velocity;
garyservin 0:fd24f7ca9688 19 float angular_velocity;
garyservin 0:fd24f7ca9688 20
garyservin 0:fd24f7ca9688 21 Pose():
garyservin 0:fd24f7ca9688 22 x(0),
garyservin 0:fd24f7ca9688 23 y(0),
garyservin 0:fd24f7ca9688 24 theta(0),
garyservin 0:fd24f7ca9688 25 linear_velocity(0),
garyservin 0:fd24f7ca9688 26 angular_velocity(0)
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 }
garyservin 0:fd24f7ca9688 29
garyservin 0:fd24f7ca9688 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 int offset = 0;
garyservin 0:fd24f7ca9688 33 union {
garyservin 0:fd24f7ca9688 34 float real;
garyservin 0:fd24f7ca9688 35 uint32_t base;
garyservin 0:fd24f7ca9688 36 } u_x;
garyservin 0:fd24f7ca9688 37 u_x.real = this->x;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 42 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 43 union {
garyservin 0:fd24f7ca9688 44 float real;
garyservin 0:fd24f7ca9688 45 uint32_t base;
garyservin 0:fd24f7ca9688 46 } u_y;
garyservin 0:fd24f7ca9688 47 u_y.real = this->y;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 52 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 53 union {
garyservin 0:fd24f7ca9688 54 float real;
garyservin 0:fd24f7ca9688 55 uint32_t base;
garyservin 0:fd24f7ca9688 56 } u_theta;
garyservin 0:fd24f7ca9688 57 u_theta.real = this->theta;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 62 offset += sizeof(this->theta);
garyservin 0:fd24f7ca9688 63 union {
garyservin 0:fd24f7ca9688 64 float real;
garyservin 0:fd24f7ca9688 65 uint32_t base;
garyservin 0:fd24f7ca9688 66 } u_linear_velocity;
garyservin 0:fd24f7ca9688 67 u_linear_velocity.real = this->linear_velocity;
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 72 offset += sizeof(this->linear_velocity);
garyservin 0:fd24f7ca9688 73 union {
garyservin 0:fd24f7ca9688 74 float real;
garyservin 0:fd24f7ca9688 75 uint32_t base;
garyservin 0:fd24f7ca9688 76 } u_angular_velocity;
garyservin 0:fd24f7ca9688 77 u_angular_velocity.real = this->angular_velocity;
garyservin 0:fd24f7ca9688 78 *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 79 *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 80 *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 81 *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 82 offset += sizeof(this->angular_velocity);
garyservin 0:fd24f7ca9688 83 return offset;
garyservin 0:fd24f7ca9688 84 }
garyservin 0:fd24f7ca9688 85
garyservin 0:fd24f7ca9688 86 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 87 {
garyservin 0:fd24f7ca9688 88 int offset = 0;
garyservin 0:fd24f7ca9688 89 union {
garyservin 0:fd24f7ca9688 90 float real;
garyservin 0:fd24f7ca9688 91 uint32_t base;
garyservin 0:fd24f7ca9688 92 } u_x;
garyservin 0:fd24f7ca9688 93 u_x.base = 0;
garyservin 0:fd24f7ca9688 94 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 95 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 96 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 97 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 98 this->x = u_x.real;
garyservin 0:fd24f7ca9688 99 offset += sizeof(this->x);
garyservin 0:fd24f7ca9688 100 union {
garyservin 0:fd24f7ca9688 101 float real;
garyservin 0:fd24f7ca9688 102 uint32_t base;
garyservin 0:fd24f7ca9688 103 } u_y;
garyservin 0:fd24f7ca9688 104 u_y.base = 0;
garyservin 0:fd24f7ca9688 105 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 106 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 107 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 108 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 109 this->y = u_y.real;
garyservin 0:fd24f7ca9688 110 offset += sizeof(this->y);
garyservin 0:fd24f7ca9688 111 union {
garyservin 0:fd24f7ca9688 112 float real;
garyservin 0:fd24f7ca9688 113 uint32_t base;
garyservin 0:fd24f7ca9688 114 } u_theta;
garyservin 0:fd24f7ca9688 115 u_theta.base = 0;
garyservin 0:fd24f7ca9688 116 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 117 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 118 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 119 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 120 this->theta = u_theta.real;
garyservin 0:fd24f7ca9688 121 offset += sizeof(this->theta);
garyservin 0:fd24f7ca9688 122 union {
garyservin 0:fd24f7ca9688 123 float real;
garyservin 0:fd24f7ca9688 124 uint32_t base;
garyservin 0:fd24f7ca9688 125 } u_linear_velocity;
garyservin 0:fd24f7ca9688 126 u_linear_velocity.base = 0;
garyservin 0:fd24f7ca9688 127 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 128 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 129 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 130 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 131 this->linear_velocity = u_linear_velocity.real;
garyservin 0:fd24f7ca9688 132 offset += sizeof(this->linear_velocity);
garyservin 0:fd24f7ca9688 133 union {
garyservin 0:fd24f7ca9688 134 float real;
garyservin 0:fd24f7ca9688 135 uint32_t base;
garyservin 0:fd24f7ca9688 136 } u_angular_velocity;
garyservin 0:fd24f7ca9688 137 u_angular_velocity.base = 0;
garyservin 0:fd24f7ca9688 138 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 139 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 140 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 141 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 142 this->angular_velocity = u_angular_velocity.real;
garyservin 0:fd24f7ca9688 143 offset += sizeof(this->angular_velocity);
garyservin 0:fd24f7ca9688 144 return offset;
garyservin 0:fd24f7ca9688 145 }
garyservin 0:fd24f7ca9688 146
garyservin 0:fd24f7ca9688 147 const char * getType(){ return "turtlesim/Pose"; };
garyservin 0:fd24f7ca9688 148 const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
garyservin 0:fd24f7ca9688 149
garyservin 0:fd24f7ca9688 150 };
garyservin 0:fd24f7ca9688 151
garyservin 0:fd24f7ca9688 152 }
garyservin 0:fd24f7ca9688 153 #endif