hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

geometry_msgs/TwistWithCovariance.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?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_geometry_msgs_TwistWithCovariance_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_geometry_msgs_TwistWithCovariance_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/Twist.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 TwistWithCovariance : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef geometry_msgs::Twist _twist_type;
Gary Servin 0:04ac6be8229a 17 _twist_type twist;
Gary Servin 0:04ac6be8229a 18 double covariance[36];
Gary Servin 0:04ac6be8229a 19
Gary Servin 0:04ac6be8229a 20 TwistWithCovariance():
Gary Servin 0:04ac6be8229a 21 twist(),
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->twist.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->twist.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/TwistWithCovariance"; };
Gary Servin 0:04ac6be8229a 74 const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; };
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