rosR.h
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00001 #include <ros/ros.h>
00002 #include <ros/package.h>
00003 #include <std_msgs/String.h>
00004 #include <topic_tools/shape_shifter.h>
00005 
00006 
00007 #ifndef ROSR_H
00008 #define ROSR_H
00009 
00011 class NodeR {
00012 public:
00013         NodeR()                         { handle = new ros::NodeHandle; };
00014         ros::NodeHandle* getHandle()    { return handle;                };
00015 public:
00016         ros::NodeHandle *handle;
00017 };
00018 
00020 struct StreamR
00021 {
00022         inline uint8_t* getData() { return data_; }
00023 
00024         uint8_t* advance(int32_t len){
00025                 uint8_t* old_data = data_;
00026                 data_ += len;
00027                 return old_data;
00028         }
00029         inline int32_t getLength() { return (int32_t)(end_ - data_); }
00030 protected:
00031         StreamR(uint8_t* _data, uint32_t _count) : data_(_data) , end_(_data + _count)
00032         {}
00033 private:
00034         uint8_t* data_;
00035         uint8_t* end_;
00036 };
00037 
00039 NodeR* rrosInitNode(char *name);
00040 
00041 void rrosSpinOnce();
00042 void rrosSpin();
00043 bool rrosOK();
00044 double rrosTimeNow();
00045 
00046 void rrosLog(char *message, unsigned char type);
00047 
00048 #endif //ROSR_H


rosR
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autogenerated on Sat Jun 8 2019 18:25:26