Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
geometry_msgs/AccelWithCovariance.h@2:5d429be7d0aa, 2020-11-02 (annotated)
- Committer:
- sgrsn
- Date:
- Mon Nov 02 09:00:01 2020 +0000
- Revision:
- 2:5d429be7d0aa
- Parent:
- 0:04ac6be8229a
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_geometry_msgs_AccelWithCovariance_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_geometry_msgs_AccelWithCovariance_h |
Gary Servin |
0:04ac6be8229a | 3 | |
Gary Servin |
0:04ac6be8229a | 4 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 7 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 8 | #include "geometry_msgs/Accel.h" |
Gary Servin |
0:04ac6be8229a | 9 | |
Gary Servin |
0:04ac6be8229a | 10 | namespace geometry_msgs |
Gary Servin |
0:04ac6be8229a | 11 | { |
Gary Servin |
0:04ac6be8229a | 12 | |
Gary Servin |
0:04ac6be8229a | 13 | class AccelWithCovariance : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 14 | { |
Gary Servin |
0:04ac6be8229a | 15 | public: |
Gary Servin |
0:04ac6be8229a | 16 | typedef geometry_msgs::Accel _accel_type; |
Gary Servin |
0:04ac6be8229a | 17 | _accel_type accel; |
Gary Servin |
0:04ac6be8229a | 18 | double covariance[36]; |
Gary Servin |
0:04ac6be8229a | 19 | |
Gary Servin |
0:04ac6be8229a | 20 | AccelWithCovariance(): |
Gary Servin |
0:04ac6be8229a | 21 | accel(), |
Gary Servin |
0:04ac6be8229a | 22 | covariance() |
Gary Servin |
0:04ac6be8229a | 23 | { |
Gary Servin |
0:04ac6be8229a | 24 | } |
Gary Servin |
0:04ac6be8229a | 25 | |
Gary Servin |
0:04ac6be8229a | 26 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 27 | { |
Gary Servin |
0:04ac6be8229a | 28 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 29 | offset += this->accel.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 30 | for( uint32_t i = 0; i < 36; i++){ |
Gary Servin |
0:04ac6be8229a | 31 | union { |
Gary Servin |
0:04ac6be8229a | 32 | double real; |
Gary Servin |
0:04ac6be8229a | 33 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 34 | } u_covariancei; |
Gary Servin |
0:04ac6be8229a | 35 | u_covariancei.real = this->covariance[i]; |
Gary Servin |
0:04ac6be8229a | 36 | *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 37 | *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 38 | *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 39 | *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 40 | *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 41 | *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 42 | *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 43 | *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 44 | offset += sizeof(this->covariance[i]); |
Gary Servin |
0:04ac6be8229a | 45 | } |
Gary Servin |
0:04ac6be8229a | 46 | return offset; |
Gary Servin |
0:04ac6be8229a | 47 | } |
Gary Servin |
0:04ac6be8229a | 48 | |
Gary Servin |
0:04ac6be8229a | 49 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 50 | { |
Gary Servin |
0:04ac6be8229a | 51 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 52 | offset += this->accel.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 53 | for( uint32_t i = 0; i < 36; i++){ |
Gary Servin |
0:04ac6be8229a | 54 | union { |
Gary Servin |
0:04ac6be8229a | 55 | double real; |
Gary Servin |
0:04ac6be8229a | 56 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 57 | } u_covariancei; |
Gary Servin |
0:04ac6be8229a | 58 | u_covariancei.base = 0; |
Gary Servin |
0:04ac6be8229a | 59 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 60 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 61 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 62 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 63 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 64 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 65 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 66 | u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 67 | this->covariance[i] = u_covariancei.real; |
Gary Servin |
0:04ac6be8229a | 68 | offset += sizeof(this->covariance[i]); |
Gary Servin |
0:04ac6be8229a | 69 | } |
Gary Servin |
0:04ac6be8229a | 70 | return offset; |
Gary Servin |
0:04ac6be8229a | 71 | } |
Gary Servin |
0:04ac6be8229a | 72 | |
Gary Servin |
0:04ac6be8229a | 73 | const char * getType(){ return "geometry_msgs/AccelWithCovariance"; }; |
Gary Servin |
0:04ac6be8229a | 74 | const char * getMD5(){ return "ad5a718d699c6be72a02b8d6a139f334"; }; |
Gary Servin |
0:04ac6be8229a | 75 | |
Gary Servin |
0:04ac6be8229a | 76 | }; |
Gary Servin |
0:04ac6be8229a | 77 | |
Gary Servin |
0:04ac6be8229a | 78 | } |
Gary Servin |
0:04ac6be8229a | 79 | #endif |