It has only one change from original one. I added robotfeedback message on it.
Dependents: RobotFeedback mobileRobotITU
Fork of ros_lib_indigo by
rospy_tutorials/Floats.h
- Committer:
- garyservin
- Date:
- 2016-03-31
- Revision:
- 0:fd24f7ca9688
File content as of revision 0:fd24f7ca9688:
#ifndef _ROS_rospy_tutorials_Floats_h #define _ROS_rospy_tutorials_Floats_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace rospy_tutorials { class Floats : public ros::Msg { public: uint8_t data_length; float st_data; float * data; Floats(): data_length(0), data(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset++) = data_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < data_length; i++){ union { float real; uint32_t base; } u_datai; u_datai.real = this->data[i]; *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; offset += sizeof(this->data[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint8_t data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); offset += 3; data_length = data_lengthT; for( uint8_t i = 0; i < data_length; i++){ union { float real; uint32_t base; } u_st_data; u_st_data.base = 0; u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->st_data = u_st_data.real; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); } return offset; } const char * getType(){ return "rospy_tutorials/Floats"; }; const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; }; }; } #endif