nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

nav_msgs/Odometry.h@0:77afd7560544, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:30 2011 +0000
Revision:
0:77afd7560544
Child:
1:ff0ec969dad1

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_Odometry_h





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#define ros_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)





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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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      long * length_child_frame_id = (long *)(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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   virtual const char * getType(){ return "nav_msgs/Odometry"; };





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  };





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}





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#endif