Go to the documentation of this file.00001 #ifndef _ROS_komodo_rover_Encoders_h
00002 #define _ROS_komodo_rover_Encoders_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008
00009 namespace komodo_rover
00010 {
00011
00012 class Encoders : public ros::Msg
00013 {
00014 public:
00015 float time_delta;
00016 int32_t left_wheel;
00017 int32_t right_wheel;
00018
00019 virtual int serialize(unsigned char *outbuffer) const
00020 {
00021 int offset = 0;
00022 union {
00023 float real;
00024 uint32_t base;
00025 } u_time_delta;
00026 u_time_delta.real = this->time_delta;
00027 *(outbuffer + offset + 0) = (u_time_delta.base >> (8 * 0)) & 0xFF;
00028 *(outbuffer + offset + 1) = (u_time_delta.base >> (8 * 1)) & 0xFF;
00029 *(outbuffer + offset + 2) = (u_time_delta.base >> (8 * 2)) & 0xFF;
00030 *(outbuffer + offset + 3) = (u_time_delta.base >> (8 * 3)) & 0xFF;
00031 offset += sizeof(this->time_delta);
00032 union {
00033 int32_t real;
00034 uint32_t base;
00035 } u_left_wheel;
00036 u_left_wheel.real = this->left_wheel;
00037 *(outbuffer + offset + 0) = (u_left_wheel.base >> (8 * 0)) & 0xFF;
00038 *(outbuffer + offset + 1) = (u_left_wheel.base >> (8 * 1)) & 0xFF;
00039 *(outbuffer + offset + 2) = (u_left_wheel.base >> (8 * 2)) & 0xFF;
00040 *(outbuffer + offset + 3) = (u_left_wheel.base >> (8 * 3)) & 0xFF;
00041 offset += sizeof(this->left_wheel);
00042 union {
00043 int32_t real;
00044 uint32_t base;
00045 } u_right_wheel;
00046 u_right_wheel.real = this->right_wheel;
00047 *(outbuffer + offset + 0) = (u_right_wheel.base >> (8 * 0)) & 0xFF;
00048 *(outbuffer + offset + 1) = (u_right_wheel.base >> (8 * 1)) & 0xFF;
00049 *(outbuffer + offset + 2) = (u_right_wheel.base >> (8 * 2)) & 0xFF;
00050 *(outbuffer + offset + 3) = (u_right_wheel.base >> (8 * 3)) & 0xFF;
00051 offset += sizeof(this->right_wheel);
00052 return offset;
00053 }
00054
00055 virtual int deserialize(unsigned char *inbuffer)
00056 {
00057 int offset = 0;
00058 union {
00059 float real;
00060 uint32_t base;
00061 } u_time_delta;
00062 u_time_delta.base = 0;
00063 u_time_delta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00064 u_time_delta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00065 u_time_delta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00066 u_time_delta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00067 this->time_delta = u_time_delta.real;
00068 offset += sizeof(this->time_delta);
00069 union {
00070 int32_t real;
00071 uint32_t base;
00072 } u_left_wheel;
00073 u_left_wheel.base = 0;
00074 u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00075 u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00076 u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00077 u_left_wheel.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00078 this->left_wheel = u_left_wheel.real;
00079 offset += sizeof(this->left_wheel);
00080 union {
00081 int32_t real;
00082 uint32_t base;
00083 } u_right_wheel;
00084 u_right_wheel.base = 0;
00085 u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00086 u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00087 u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00088 u_right_wheel.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00089 this->right_wheel = u_right_wheel.real;
00090 offset += sizeof(this->right_wheel);
00091 return offset;
00092 }
00093
00094 const char * getType(){ return "komodo_rover/Encoders"; };
00095 const char * getMD5(){ return "265d820a2b35c4bff51c4a1d293ad5c0"; };
00096
00097 };
00098
00099 }
00100 #endif