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

turtle_actionlib/Velocity.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_turtle_actionlib_Velocity_h
garyservin 0:fd24f7ca9688 2 #define _ROS_turtle_actionlib_Velocity_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 turtle_actionlib
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class Velocity : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 float linear;
garyservin 0:fd24f7ca9688 16 float angular;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 Velocity():
garyservin 0:fd24f7ca9688 19 linear(0),
garyservin 0:fd24f7ca9688 20 angular(0)
garyservin 0:fd24f7ca9688 21 {
garyservin 0:fd24f7ca9688 22 }
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 int offset = 0;
garyservin 0:fd24f7ca9688 27 union {
garyservin 0:fd24f7ca9688 28 float real;
garyservin 0:fd24f7ca9688 29 uint32_t base;
garyservin 0:fd24f7ca9688 30 } u_linear;
garyservin 0:fd24f7ca9688 31 u_linear.real = this->linear;
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 36 offset += sizeof(this->linear);
garyservin 0:fd24f7ca9688 37 union {
garyservin 0:fd24f7ca9688 38 float real;
garyservin 0:fd24f7ca9688 39 uint32_t base;
garyservin 0:fd24f7ca9688 40 } u_angular;
garyservin 0:fd24f7ca9688 41 u_angular.real = this->angular;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 46 offset += sizeof(this->angular);
garyservin 0:fd24f7ca9688 47 return offset;
garyservin 0:fd24f7ca9688 48 }
garyservin 0:fd24f7ca9688 49
garyservin 0:fd24f7ca9688 50 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 51 {
garyservin 0:fd24f7ca9688 52 int offset = 0;
garyservin 0:fd24f7ca9688 53 union {
garyservin 0:fd24f7ca9688 54 float real;
garyservin 0:fd24f7ca9688 55 uint32_t base;
garyservin 0:fd24f7ca9688 56 } u_linear;
garyservin 0:fd24f7ca9688 57 u_linear.base = 0;
garyservin 0:fd24f7ca9688 58 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 59 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 60 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 62 this->linear = u_linear.real;
garyservin 0:fd24f7ca9688 63 offset += sizeof(this->linear);
garyservin 0:fd24f7ca9688 64 union {
garyservin 0:fd24f7ca9688 65 float real;
garyservin 0:fd24f7ca9688 66 uint32_t base;
garyservin 0:fd24f7ca9688 67 } u_angular;
garyservin 0:fd24f7ca9688 68 u_angular.base = 0;
garyservin 0:fd24f7ca9688 69 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 70 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 71 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 73 this->angular = u_angular.real;
garyservin 0:fd24f7ca9688 74 offset += sizeof(this->angular);
garyservin 0:fd24f7ca9688 75 return offset;
garyservin 0:fd24f7ca9688 76 }
garyservin 0:fd24f7ca9688 77
garyservin 0:fd24f7ca9688 78 const char * getType(){ return "turtle_actionlib/Velocity"; };
garyservin 0:fd24f7ca9688 79 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
garyservin 0:fd24f7ca9688 80
garyservin 0:fd24f7ca9688 81 };
garyservin 0:fd24f7ca9688 82
garyservin 0:fd24f7ca9688 83 }
garyservin 0:fd24f7ca9688 84 #endif