root / quad2 / arduino / src / ros_lib / geometry_msgs / TwistWithCovariance.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_geometry_msgs_TwistWithCovariance_h
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2 | #define _ROS_geometry_msgs_TwistWithCovariance_h
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3 | |||
4 | #include <stdint.h> |
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5 | #include <string.h> |
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6 | #include <stdlib.h> |
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7 | #include "ros/msg.h" |
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8 | #include "geometry_msgs/Twist.h" |
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9 | |||
10 | namespace geometry_msgs |
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11 | { |
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12 | |||
13 | class TwistWithCovariance : public ros::Msg |
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14 | { |
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15 | public:
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16 | geometry_msgs::Twist twist; |
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17 | float covariance[36]; |
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18 | |||
19 | virtual int serialize(unsigned char *outbuffer) const |
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20 | { |
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21 | int offset = 0; |
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22 | offset += this->twist.serialize(outbuffer + offset); |
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23 | unsigned char * covariance_val = (unsigned char *) this->covariance; |
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24 | for( uint8_t i = 0; i < 36; i++){ |
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25 | int32_t * val_covariancei = (long *) &(this->covariance[i]);
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26 | int32_t exp_covariancei = (((*val_covariancei)>>23)&255); |
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27 | if(exp_covariancei != 0) |
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28 | exp_covariancei += 1023-127; |
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29 | int32_t sig_covariancei = *val_covariancei; |
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30 | *(outbuffer + offset++) = 0;
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31 | *(outbuffer + offset++) = 0;
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32 | *(outbuffer + offset++) = 0;
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33 | *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff; |
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34 | *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff; |
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35 | *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff; |
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36 | *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F); |
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37 | *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F; |
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38 | if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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39 | } |
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40 | return offset;
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41 | } |
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42 | |||
43 | virtual int deserialize(unsigned char *inbuffer) |
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44 | { |
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45 | int offset = 0; |
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46 | offset += this->twist.deserialize(inbuffer + offset); |
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47 | uint8_t * covariance_val = (uint8_t*) this->covariance; |
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48 | for( uint8_t i = 0; i < 36; i++){ |
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49 | uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]); |
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50 | offset += 3;
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51 | *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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52 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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53 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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54 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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55 | uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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56 | exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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57 | if(exp_covariancei !=0) |
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58 | *val_covariancei |= ((exp_covariancei)-1023+127)<<23; |
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59 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i]; |
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60 | } |
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61 | return offset;
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62 | } |
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63 | |||
64 | const char * getType(){ return "geometry_msgs/TwistWithCovariance"; }; |
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65 | const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; }; |
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66 | |||
67 | }; |
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68 | |||
69 | } |
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70 | #endif |