root / quad2 / arduino / src / ros_lib / nav_msgs / Odometry.h @ c1426757
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#ifndef _ROS_nav_msgs_Odometry_h
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#define _ROS_nav_msgs_Odometry_h
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#include <stdint.h> |
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#include <string.h> |
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#include <stdlib.h> |
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#include "ros/msg.h" |
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#include "std_msgs/Header.h" |
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#include "geometry_msgs/PoseWithCovariance.h" |
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#include "geometry_msgs/TwistWithCovariance.h" |
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namespace nav_msgs |
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{ |
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class Odometry : public ros::Msg |
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{ |
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public:
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std_msgs::Header header; |
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char * child_frame_id;
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geometry_msgs::PoseWithCovariance pose; |
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geometry_msgs::TwistWithCovariance twist; |
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virtual int serialize(unsigned char *outbuffer) const |
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{ |
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int offset = 0; |
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offset += this->header.serialize(outbuffer + offset); |
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uint32_t * length_child_frame_id = (uint32_t *)(outbuffer + offset); |
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*length_child_frame_id = strlen( (const char*) this->child_frame_id); |
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offset += 4;
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memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id); |
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offset += *length_child_frame_id; |
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offset += this->pose.serialize(outbuffer + offset); |
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offset += this->twist.serialize(outbuffer + offset); |
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return offset;
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} |
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virtual int deserialize(unsigned char *inbuffer) |
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{ |
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int offset = 0; |
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offset += this->header.deserialize(inbuffer + offset); |
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uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset); |
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offset += 4;
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for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ |
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inbuffer[k-1]=inbuffer[k];
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} |
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inbuffer[offset+length_child_frame_id-1]=0; |
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this->child_frame_id = (char *)(inbuffer + offset-1); |
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offset += length_child_frame_id; |
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offset += this->pose.deserialize(inbuffer + offset); |
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offset += this->twist.deserialize(inbuffer + offset); |
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return offset;
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} |
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const char * getType(){ return "nav_msgs/Odometry"; }; |
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const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; }; |
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}; |
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} |
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#endif
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