Quadrotor

#ifndef _ROS_geometry_msgs_PoseWithCovariance_h

#define _ROS_geometry_msgs_PoseWithCovariance_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

#include "geometry_msgs/Pose.h"

namespace geometry_msgs

{

  class PoseWithCovariance : public ros::Msg

  {

    public:

      geometry_msgs::Pose pose;

      float covariance[36];

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      offset += this->pose.serialize(outbuffer + offset);

      unsigned char * covariance_val = (unsigned char *) this->covariance;

      for( uint8_t i = 0; i < 36; i++){

      int32_t * val_covariancei = (long *) &(this->covariance[i]);

      int32_t exp_covariancei = (((*val_covariancei)>>23)&255);

      if(exp_covariancei != 0)

        exp_covariancei += 1023-127;

      int32_t sig_covariancei = *val_covariancei;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

      if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      offset += this->pose.deserialize(inbuffer + offset);

      uint8_t * covariance_val = (uint8_t*) this->covariance;

      for( uint8_t i = 0; i < 36; i++){

      uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);

      offset += 3;

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

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

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

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

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

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

      if(exp_covariancei !=0)

        *val_covariancei |= ((exp_covariancei)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];

      }

     return offset;

    }

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

    const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };

  };

}

#endif