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Dependencies:   mbed Watchdog stm32-sensor-base2

ros_lib_melodic/geometry_msgs/PoseWithCovariance.h@2:b7fdc74e5c5d, 2020-07-07 (annotated)

Committer:
ommpy
Date:
Tue Jul 07 15:19:06 2020 +0530
Revision:
2:b7fdc74e5c5d
new board files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ommpy 2:b7fdc74e5c5d 1 #ifndef _ROS_geometry_msgs_PoseWithCovariance_h
ommpy 2:b7fdc74e5c5d 2 #define _ROS_geometry_msgs_PoseWithCovariance_h
ommpy 2:b7fdc74e5c5d 3
ommpy 2:b7fdc74e5c5d 4 #include <stdint.h>
ommpy 2:b7fdc74e5c5d 5 #include <string.h>
ommpy 2:b7fdc74e5c5d 6 #include <stdlib.h>
ommpy 2:b7fdc74e5c5d 7 #include "ros/msg.h"
ommpy 2:b7fdc74e5c5d 8 #include "geometry_msgs/Pose.h"
ommpy 2:b7fdc74e5c5d 9
ommpy 2:b7fdc74e5c5d 10 namespace geometry_msgs
ommpy 2:b7fdc74e5c5d 11 {
ommpy 2:b7fdc74e5c5d 12
ommpy 2:b7fdc74e5c5d 13 class PoseWithCovariance : public ros::Msg
ommpy 2:b7fdc74e5c5d 14 {
ommpy 2:b7fdc74e5c5d 15 public:
ommpy 2:b7fdc74e5c5d 16 typedef geometry_msgs::Pose _pose_type;
ommpy 2:b7fdc74e5c5d 17 _pose_type pose;
ommpy 2:b7fdc74e5c5d 18 double covariance[36];
ommpy 2:b7fdc74e5c5d 19
ommpy 2:b7fdc74e5c5d 20 PoseWithCovariance():
ommpy 2:b7fdc74e5c5d 21 pose(),
ommpy 2:b7fdc74e5c5d 22 covariance()
ommpy 2:b7fdc74e5c5d 23 {
ommpy 2:b7fdc74e5c5d 24 }
ommpy 2:b7fdc74e5c5d 25
ommpy 2:b7fdc74e5c5d 26 virtual int serialize(unsigned char *outbuffer) const
ommpy 2:b7fdc74e5c5d 27 {
ommpy 2:b7fdc74e5c5d 28 int offset = 0;
ommpy 2:b7fdc74e5c5d 29 offset += this->pose.serialize(outbuffer + offset);
ommpy 2:b7fdc74e5c5d 30 for( uint32_t i = 0; i < 36; i++){
ommpy 2:b7fdc74e5c5d 31 union {
ommpy 2:b7fdc74e5c5d 32 double real;
ommpy 2:b7fdc74e5c5d 33 uint64_t base;
ommpy 2:b7fdc74e5c5d 34 } u_covariancei;
ommpy 2:b7fdc74e5c5d 35 u_covariancei.real = this->covariance[i];
ommpy 2:b7fdc74e5c5d 36 *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
ommpy 2:b7fdc74e5c5d 37 *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
ommpy 2:b7fdc74e5c5d 38 *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
ommpy 2:b7fdc74e5c5d 39 *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
ommpy 2:b7fdc74e5c5d 40 *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
ommpy 2:b7fdc74e5c5d 41 *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
ommpy 2:b7fdc74e5c5d 42 *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
ommpy 2:b7fdc74e5c5d 43 *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
ommpy 2:b7fdc74e5c5d 44 offset += sizeof(this->covariance[i]);
ommpy 2:b7fdc74e5c5d 45 }
ommpy 2:b7fdc74e5c5d 46 return offset;
ommpy 2:b7fdc74e5c5d 47 }
ommpy 2:b7fdc74e5c5d 48
ommpy 2:b7fdc74e5c5d 49 virtual int deserialize(unsigned char *inbuffer)
ommpy 2:b7fdc74e5c5d 50 {
ommpy 2:b7fdc74e5c5d 51 int offset = 0;
ommpy 2:b7fdc74e5c5d 52 offset += this->pose.deserialize(inbuffer + offset);
ommpy 2:b7fdc74e5c5d 53 for( uint32_t i = 0; i < 36; i++){
ommpy 2:b7fdc74e5c5d 54 union {
ommpy 2:b7fdc74e5c5d 55 double real;
ommpy 2:b7fdc74e5c5d 56 uint64_t base;
ommpy 2:b7fdc74e5c5d 57 } u_covariancei;
ommpy 2:b7fdc74e5c5d 58 u_covariancei.base = 0;
ommpy 2:b7fdc74e5c5d 59 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
ommpy 2:b7fdc74e5c5d 60 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
ommpy 2:b7fdc74e5c5d 61 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
ommpy 2:b7fdc74e5c5d 62 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
ommpy 2:b7fdc74e5c5d 63 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
ommpy 2:b7fdc74e5c5d 64 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
ommpy 2:b7fdc74e5c5d 65 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
ommpy 2:b7fdc74e5c5d 66 u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
ommpy 2:b7fdc74e5c5d 67 this->covariance[i] = u_covariancei.real;
ommpy 2:b7fdc74e5c5d 68 offset += sizeof(this->covariance[i]);
ommpy 2:b7fdc74e5c5d 69 }
ommpy 2:b7fdc74e5c5d 70 return offset;
ommpy 2:b7fdc74e5c5d 71 }
ommpy 2:b7fdc74e5c5d 72
ommpy 2:b7fdc74e5c5d 73 const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
ommpy 2:b7fdc74e5c5d 74 const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
ommpy 2:b7fdc74e5c5d 75
ommpy 2:b7fdc74e5c5d 76 };
ommpy 2:b7fdc74e5c5d 77
ommpy 2:b7fdc74e5c5d 78 }
ommpy 2:b7fdc74e5c5d 79 #endif