ric_command.h
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00001 #ifndef _ROS_ric_robot_ric_command_h
00002 #define _ROS_ric_robot_ric_command_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace ric_robot
00010 {
00011 
00012   class ric_command : public ros::Msg
00013   {
00014     public:
00015       int32_t left_wheel;
00016       int32_t right_wheel;
00017 
00018     virtual int serialize(unsigned char *outbuffer) const
00019     {
00020       int offset = 0;
00021       union {
00022         int32_t real;
00023         uint32_t base;
00024       } u_left_wheel;
00025       u_left_wheel.real = this->left_wheel;
00026       *(outbuffer + offset + 0) = (u_left_wheel.base >> (8 * 0)) & 0xFF;
00027       *(outbuffer + offset + 1) = (u_left_wheel.base >> (8 * 1)) & 0xFF;
00028       *(outbuffer + offset + 2) = (u_left_wheel.base >> (8 * 2)) & 0xFF;
00029       *(outbuffer + offset + 3) = (u_left_wheel.base >> (8 * 3)) & 0xFF;
00030       offset += sizeof(this->left_wheel);
00031       union {
00032         int32_t real;
00033         uint32_t base;
00034       } u_right_wheel;
00035       u_right_wheel.real = this->right_wheel;
00036       *(outbuffer + offset + 0) = (u_right_wheel.base >> (8 * 0)) & 0xFF;
00037       *(outbuffer + offset + 1) = (u_right_wheel.base >> (8 * 1)) & 0xFF;
00038       *(outbuffer + offset + 2) = (u_right_wheel.base >> (8 * 2)) & 0xFF;
00039       *(outbuffer + offset + 3) = (u_right_wheel.base >> (8 * 3)) & 0xFF;
00040       offset += sizeof(this->right_wheel);
00041       return offset;
00042     }
00043 
00044     virtual int deserialize(unsigned char *inbuffer)
00045     {
00046       int offset = 0;
00047       union {
00048         int32_t real;
00049         uint32_t base;
00050       } u_left_wheel;
00051       u_left_wheel.base = 0;
00052       u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00053       u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00054       u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00055       u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00056       this->left_wheel = u_left_wheel.real;
00057       offset += sizeof(this->left_wheel);
00058       union {
00059         int32_t real;
00060         uint32_t base;
00061       } u_right_wheel;
00062       u_right_wheel.base = 0;
00063       u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00064       u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00065       u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00066       u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00067       this->right_wheel = u_right_wheel.real;
00068       offset += sizeof(this->right_wheel);
00069      return offset;
00070     }
00071 
00072     const char * getType(){ return "ric_robot/ric_command"; };
00073     const char * getMD5(){ return "3cad0bda4aa523fe6ab3c0809a84e390"; };
00074 
00075   };
00076 
00077 }
00078 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:56