Go to the documentation of this file.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