00001 #ifndef ros_nav_msgs_Odometry_h 00002 #define ros_nav_msgs_Odometry_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "../ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "geometry_msgs/PoseWithCovariance.h" 00010 #include "geometry_msgs/TwistWithCovariance.h" 00011 00012 namespace nav_msgs 00013 { 00014 00015 class Odometry : public ros::Msg 00016 { 00017 public: 00018 std_msgs::Header header; 00019 char * child_frame_id; 00020 geometry_msgs::PoseWithCovariance pose; 00021 geometry_msgs::TwistWithCovariance twist; 00022 00023 virtual int serialize(unsigned char *outbuffer) 00024 { 00025 int offset = 0; 00026 offset += this->header.serialize(outbuffer + offset); 00027 long * length_child_frame_id = (long *)(outbuffer + offset); 00028 *length_child_frame_id = strlen( (const char*) this->child_frame_id); 00029 offset += 4; 00030 memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id); 00031 offset += *length_child_frame_id; 00032 offset += this->pose.serialize(outbuffer + offset); 00033 offset += this->twist.serialize(outbuffer + offset); 00034 return offset; 00035 } 00036 00037 virtual int deserialize(unsigned char *inbuffer) 00038 { 00039 int offset = 0; 00040 offset += this->header.deserialize(inbuffer + offset); 00041 uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset); 00042 offset += 4; 00043 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ 00044 inbuffer[k-1]=inbuffer[k]; 00045 } 00046 inbuffer[offset+length_child_frame_id-1]=0; 00047 this->child_frame_id = (char *)(inbuffer + offset-1); 00048 offset += length_child_frame_id; 00049 offset += this->pose.deserialize(inbuffer + offset); 00050 offset += this->twist.deserialize(inbuffer + offset); 00051 return offset; 00052 } 00053 00054 const char * getType(){ return "nav_msgs/Odometry"; }; 00055 00056 }; 00057 00058 } 00059 #endif
