Pose.h
Go to the documentation of this file.
00001 #ifndef _ROS_turtlesim_Pose_h
00002 #define _ROS_turtlesim_Pose_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace turtlesim
00010 {
00011 
00012   class Pose : public ros::Msg
00013   {
00014     public:
00015       float x;
00016       float y;
00017       float theta;
00018       float linear_velocity;
00019       float angular_velocity;
00020 
00021     virtual int serialize(unsigned char *outbuffer) const
00022     {
00023       int offset = 0;
00024       union {
00025         float real;
00026         uint32_t base;
00027       } u_x;
00028       u_x.real = this->x;
00029       *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
00030       *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
00031       *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
00032       *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
00033       offset += sizeof(this->x);
00034       union {
00035         float real;
00036         uint32_t base;
00037       } u_y;
00038       u_y.real = this->y;
00039       *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
00043       offset += sizeof(this->y);
00044       union {
00045         float real;
00046         uint32_t base;
00047       } u_theta;
00048       u_theta.real = this->theta;
00049       *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
00050       *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
00051       *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
00052       *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
00053       offset += sizeof(this->theta);
00054       union {
00055         float real;
00056         uint32_t base;
00057       } u_linear_velocity;
00058       u_linear_velocity.real = this->linear_velocity;
00059       *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
00060       *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
00061       *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
00062       *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
00063       offset += sizeof(this->linear_velocity);
00064       union {
00065         float real;
00066         uint32_t base;
00067       } u_angular_velocity;
00068       u_angular_velocity.real = this->angular_velocity;
00069       *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
00070       *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
00071       *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
00072       *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
00073       offset += sizeof(this->angular_velocity);
00074       return offset;
00075     }
00076 
00077     virtual int deserialize(unsigned char *inbuffer)
00078     {
00079       int offset = 0;
00080       union {
00081         float real;
00082         uint32_t base;
00083       } u_x;
00084       u_x.base = 0;
00085       u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00086       u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00087       u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00088       u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00089       this->x = u_x.real;
00090       offset += sizeof(this->x);
00091       union {
00092         float real;
00093         uint32_t base;
00094       } u_y;
00095       u_y.base = 0;
00096       u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00097       u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00098       u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00099       u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00100       this->y = u_y.real;
00101       offset += sizeof(this->y);
00102       union {
00103         float real;
00104         uint32_t base;
00105       } u_theta;
00106       u_theta.base = 0;
00107       u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00108       u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00109       u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00110       u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00111       this->theta = u_theta.real;
00112       offset += sizeof(this->theta);
00113       union {
00114         float real;
00115         uint32_t base;
00116       } u_linear_velocity;
00117       u_linear_velocity.base = 0;
00118       u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00119       u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00120       u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00121       u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00122       this->linear_velocity = u_linear_velocity.real;
00123       offset += sizeof(this->linear_velocity);
00124       union {
00125         float real;
00126         uint32_t base;
00127       } u_angular_velocity;
00128       u_angular_velocity.base = 0;
00129       u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00130       u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00131       u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00132       u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00133       this->angular_velocity = u_angular_velocity.real;
00134       offset += sizeof(this->angular_velocity);
00135      return offset;
00136     }
00137 
00138     const char * getType(){ return "turtlesim/Pose"; };
00139     const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
00140 
00141   };
00142 
00143 }
00144 #endif


lizi_arduino
Author(s): RoboTiCan
autogenerated on Wed Aug 26 2015 12:24:22