Program Listing for File inertia.hpp
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)
/*****************************************************************************
** Preprocessor
*****************************************************************************/
#ifndef KOBUKI_CORE_INERTIA_DATA_HPP__
#define KOBUKI_CORE_INERTIA_DATA_HPP__
/*****************************************************************************
** Includes
*****************************************************************************/
#include "../packet_handler/payload_base.hpp"
#include "../packet_handler/payload_headers.hpp"
/*****************************************************************************
** Namespaces
*****************************************************************************/
namespace kobuki
{
/*****************************************************************************
** Interface
*****************************************************************************/
class Inertia : public packet_handler::payloadBase
{
public:
Inertia() : packet_handler::payloadBase(false, 7) {};
struct Data {
int16_t angle;
int16_t angle_rate;
unsigned char acc[3];
} data;
virtual ~Inertia() {};
bool serialise(ecl::PushAndPop<unsigned char> & byteStream)
{
buildBytes(Header::Inertia, byteStream);
buildBytes(length, byteStream);
buildBytes(data.angle, byteStream);
buildBytes(data.angle_rate, byteStream);
buildBytes(data.acc[0], byteStream);
buildBytes(data.acc[1], byteStream);
buildBytes(data.acc[2], byteStream);
return true;
}
bool deserialise(ecl::PushAndPop<unsigned char> & byteStream)
{
if (byteStream.size() < static_cast<unsigned int>(length)+2)
{
//std::cout << "kobuki_node: kobuki_inertia: deserialise failed. not enough byte stream." << std::endl;
return false;
}
unsigned char header_id(0x00), length_packed(0x00);
buildVariable(header_id, byteStream);
buildVariable(length_packed, byteStream);
if( header_id != Header::Inertia ) return false;
if( length_packed != length ) return false;
buildVariable(data.angle, byteStream);
buildVariable(data.angle_rate, byteStream);
buildVariable(data.acc[0], byteStream);
buildVariable(data.acc[1], byteStream);
buildVariable(data.acc[2], byteStream);
//showMe();
return constrain();
}
bool constrain()
{
return true;
}
void showMe()
{
}
};
} // namespace kobuki
#endif /* KOBUKI_CORE_INERTIA_DATA_HPP__ */