lizi_raw.h
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00001 #ifndef _ROS_lizi_lizi_raw_h
00002 #define _ROS_lizi_lizi_raw_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace lizi
00010 {
00011 
00012   class lizi_raw : public ros::Msg
00013   {
00014     public:
00015       float qw;
00016       float qx;
00017       float qy;
00018       float qz;
00019       int32_t left_ticks;
00020       int32_t right_ticks;
00021       float left_urf;
00022       float rear_urf;
00023       float right_urf;
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       union {
00029         float real;
00030         uint32_t base;
00031       } u_qw;
00032       u_qw.real = this->qw;
00033       *(outbuffer + offset + 0) = (u_qw.base >> (8 * 0)) & 0xFF;
00034       *(outbuffer + offset + 1) = (u_qw.base >> (8 * 1)) & 0xFF;
00035       *(outbuffer + offset + 2) = (u_qw.base >> (8 * 2)) & 0xFF;
00036       *(outbuffer + offset + 3) = (u_qw.base >> (8 * 3)) & 0xFF;
00037       offset += sizeof(this->qw);
00038       union {
00039         float real;
00040         uint32_t base;
00041       } u_qx;
00042       u_qx.real = this->qx;
00043       *(outbuffer + offset + 0) = (u_qx.base >> (8 * 0)) & 0xFF;
00044       *(outbuffer + offset + 1) = (u_qx.base >> (8 * 1)) & 0xFF;
00045       *(outbuffer + offset + 2) = (u_qx.base >> (8 * 2)) & 0xFF;
00046       *(outbuffer + offset + 3) = (u_qx.base >> (8 * 3)) & 0xFF;
00047       offset += sizeof(this->qx);
00048       union {
00049         float real;
00050         uint32_t base;
00051       } u_qy;
00052       u_qy.real = this->qy;
00053       *(outbuffer + offset + 0) = (u_qy.base >> (8 * 0)) & 0xFF;
00054       *(outbuffer + offset + 1) = (u_qy.base >> (8 * 1)) & 0xFF;
00055       *(outbuffer + offset + 2) = (u_qy.base >> (8 * 2)) & 0xFF;
00056       *(outbuffer + offset + 3) = (u_qy.base >> (8 * 3)) & 0xFF;
00057       offset += sizeof(this->qy);
00058       union {
00059         float real;
00060         uint32_t base;
00061       } u_qz;
00062       u_qz.real = this->qz;
00063       *(outbuffer + offset + 0) = (u_qz.base >> (8 * 0)) & 0xFF;
00064       *(outbuffer + offset + 1) = (u_qz.base >> (8 * 1)) & 0xFF;
00065       *(outbuffer + offset + 2) = (u_qz.base >> (8 * 2)) & 0xFF;
00066       *(outbuffer + offset + 3) = (u_qz.base >> (8 * 3)) & 0xFF;
00067       offset += sizeof(this->qz);
00068       union {
00069         int32_t real;
00070         uint32_t base;
00071       } u_left_ticks;
00072       u_left_ticks.real = this->left_ticks;
00073       *(outbuffer + offset + 0) = (u_left_ticks.base >> (8 * 0)) & 0xFF;
00074       *(outbuffer + offset + 1) = (u_left_ticks.base >> (8 * 1)) & 0xFF;
00075       *(outbuffer + offset + 2) = (u_left_ticks.base >> (8 * 2)) & 0xFF;
00076       *(outbuffer + offset + 3) = (u_left_ticks.base >> (8 * 3)) & 0xFF;
00077       offset += sizeof(this->left_ticks);
00078       union {
00079         int32_t real;
00080         uint32_t base;
00081       } u_right_ticks;
00082       u_right_ticks.real = this->right_ticks;
00083       *(outbuffer + offset + 0) = (u_right_ticks.base >> (8 * 0)) & 0xFF;
00084       *(outbuffer + offset + 1) = (u_right_ticks.base >> (8 * 1)) & 0xFF;
00085       *(outbuffer + offset + 2) = (u_right_ticks.base >> (8 * 2)) & 0xFF;
00086       *(outbuffer + offset + 3) = (u_right_ticks.base >> (8 * 3)) & 0xFF;
00087       offset += sizeof(this->right_ticks);
00088       union {
00089         float real;
00090         uint32_t base;
00091       } u_left_urf;
00092       u_left_urf.real = this->left_urf;
00093       *(outbuffer + offset + 0) = (u_left_urf.base >> (8 * 0)) & 0xFF;
00094       *(outbuffer + offset + 1) = (u_left_urf.base >> (8 * 1)) & 0xFF;
00095       *(outbuffer + offset + 2) = (u_left_urf.base >> (8 * 2)) & 0xFF;
00096       *(outbuffer + offset + 3) = (u_left_urf.base >> (8 * 3)) & 0xFF;
00097       offset += sizeof(this->left_urf);
00098       union {
00099         float real;
00100         uint32_t base;
00101       } u_rear_urf;
00102       u_rear_urf.real = this->rear_urf;
00103       *(outbuffer + offset + 0) = (u_rear_urf.base >> (8 * 0)) & 0xFF;
00104       *(outbuffer + offset + 1) = (u_rear_urf.base >> (8 * 1)) & 0xFF;
00105       *(outbuffer + offset + 2) = (u_rear_urf.base >> (8 * 2)) & 0xFF;
00106       *(outbuffer + offset + 3) = (u_rear_urf.base >> (8 * 3)) & 0xFF;
00107       offset += sizeof(this->rear_urf);
00108       union {
00109         float real;
00110         uint32_t base;
00111       } u_right_urf;
00112       u_right_urf.real = this->right_urf;
00113       *(outbuffer + offset + 0) = (u_right_urf.base >> (8 * 0)) & 0xFF;
00114       *(outbuffer + offset + 1) = (u_right_urf.base >> (8 * 1)) & 0xFF;
00115       *(outbuffer + offset + 2) = (u_right_urf.base >> (8 * 2)) & 0xFF;
00116       *(outbuffer + offset + 3) = (u_right_urf.base >> (8 * 3)) & 0xFF;
00117       offset += sizeof(this->right_urf);
00118       return offset;
00119     }
00120 
00121     virtual int deserialize(unsigned char *inbuffer)
00122     {
00123       int offset = 0;
00124       union {
00125         float real;
00126         uint32_t base;
00127       } u_qw;
00128       u_qw.base = 0;
00129       u_qw.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00130       u_qw.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00131       u_qw.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00132       u_qw.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00133       this->qw = u_qw.real;
00134       offset += sizeof(this->qw);
00135       union {
00136         float real;
00137         uint32_t base;
00138       } u_qx;
00139       u_qx.base = 0;
00140       u_qx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00141       u_qx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00142       u_qx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00143       u_qx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00144       this->qx = u_qx.real;
00145       offset += sizeof(this->qx);
00146       union {
00147         float real;
00148         uint32_t base;
00149       } u_qy;
00150       u_qy.base = 0;
00151       u_qy.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00152       u_qy.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00153       u_qy.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00154       u_qy.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00155       this->qy = u_qy.real;
00156       offset += sizeof(this->qy);
00157       union {
00158         float real;
00159         uint32_t base;
00160       } u_qz;
00161       u_qz.base = 0;
00162       u_qz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00163       u_qz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00164       u_qz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00165       u_qz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00166       this->qz = u_qz.real;
00167       offset += sizeof(this->qz);
00168       union {
00169         int32_t real;
00170         uint32_t base;
00171       } u_left_ticks;
00172       u_left_ticks.base = 0;
00173       u_left_ticks.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00174       u_left_ticks.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00175       u_left_ticks.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00176       u_left_ticks.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00177       this->left_ticks = u_left_ticks.real;
00178       offset += sizeof(this->left_ticks);
00179       union {
00180         int32_t real;
00181         uint32_t base;
00182       } u_right_ticks;
00183       u_right_ticks.base = 0;
00184       u_right_ticks.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00185       u_right_ticks.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00186       u_right_ticks.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00187       u_right_ticks.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00188       this->right_ticks = u_right_ticks.real;
00189       offset += sizeof(this->right_ticks);
00190       union {
00191         float real;
00192         uint32_t base;
00193       } u_left_urf;
00194       u_left_urf.base = 0;
00195       u_left_urf.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00196       u_left_urf.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00197       u_left_urf.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00198       u_left_urf.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00199       this->left_urf = u_left_urf.real;
00200       offset += sizeof(this->left_urf);
00201       union {
00202         float real;
00203         uint32_t base;
00204       } u_rear_urf;
00205       u_rear_urf.base = 0;
00206       u_rear_urf.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00207       u_rear_urf.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00208       u_rear_urf.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00209       u_rear_urf.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00210       this->rear_urf = u_rear_urf.real;
00211       offset += sizeof(this->rear_urf);
00212       union {
00213         float real;
00214         uint32_t base;
00215       } u_right_urf;
00216       u_right_urf.base = 0;
00217       u_right_urf.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00218       u_right_urf.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00219       u_right_urf.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00220       u_right_urf.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00221       this->right_urf = u_right_urf.real;
00222       offset += sizeof(this->right_urf);
00223      return offset;
00224     }
00225 
00226     const char * getType(){ return "lizi/lizi_raw"; };
00227     const char * getMD5(){ return "d3fede5537f79f19050f2e81db4deb6d"; };
00228 
00229   };
00230 
00231 }
00232 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:55