Quadrotor

#ifndef _ROS_geometry_msgs_Pose2D_h

#define _ROS_geometry_msgs_Pose2D_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

namespace geometry_msgs

{

  class Pose2D : public ros::Msg

  {

    public:

      float x;

      float y;

      float theta;

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      int32_t * val_x = (long *) &(this->x);

      int32_t exp_x = (((*val_x)>>23)&255);

      if(exp_x != 0)

        exp_x += 1023-127;

      int32_t sig_x = *val_x;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_x<<5) & 0xff;

      *(outbuffer + offset++) = (sig_x>>3) & 0xff;

      *(outbuffer + offset++) = (sig_x>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);

      *(outbuffer + offset++) = (exp_x>>4) & 0x7F;

      if(this->x < 0) *(outbuffer + offset -1) |= 0x80;

      int32_t * val_y = (long *) &(this->y);

      int32_t exp_y = (((*val_y)>>23)&255);

      if(exp_y != 0)

        exp_y += 1023-127;

      int32_t sig_y = *val_y;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_y<<5) & 0xff;

      *(outbuffer + offset++) = (sig_y>>3) & 0xff;

      *(outbuffer + offset++) = (sig_y>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);

      *(outbuffer + offset++) = (exp_y>>4) & 0x7F;

      if(this->y < 0) *(outbuffer + offset -1) |= 0x80;

      int32_t * val_theta = (long *) &(this->theta);

      int32_t exp_theta = (((*val_theta)>>23)&255);

      if(exp_theta != 0)

        exp_theta += 1023-127;

      int32_t sig_theta = *val_theta;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_theta<<5) & 0xff;

      *(outbuffer + offset++) = (sig_theta>>3) & 0xff;

      *(outbuffer + offset++) = (sig_theta>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_theta<<4) & 0xF0) | ((sig_theta>>19)&0x0F);

      *(outbuffer + offset++) = (exp_theta>>4) & 0x7F;

      if(this->theta < 0) *(outbuffer + offset -1) |= 0x80;

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      uint32_t * val_x = (uint32_t*) &(this->x);

      offset += 3;

      *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_x !=0)

        *val_x |= ((exp_x)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;

      uint32_t * val_y = (uint32_t*) &(this->y);

      offset += 3;

      *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_y !=0)

        *val_y |= ((exp_y)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;

      uint32_t * val_theta = (uint32_t*) &(this->theta);

      offset += 3;

      *val_theta = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_theta = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_theta !=0)

        *val_theta |= ((exp_theta)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta;

     return offset;

    }

    const char * getType(){ return "geometry_msgs/Pose2D"; };

    const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; };

  };

}

#endif