Quadrotor

#ifndef _ROS_std_msgs_Float64MultiArray_h

#define _ROS_std_msgs_Float64MultiArray_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

#include "std_msgs/MultiArrayLayout.h"

namespace std_msgs

{

  class Float64MultiArray : public ros::Msg

  {

    public:

      std_msgs::MultiArrayLayout layout;

      uint8_t data_length;

      float st_data;

      float * data;

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

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

      *(outbuffer + offset++) = data_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

      int32_t * val_datai = (long *) &(this->data[i]);

      int32_t exp_datai = (((*val_datai)>>23)&255);

      if(exp_datai != 0)

        exp_datai += 1023-127;

      int32_t sig_datai = *val_datai;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

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

      }

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

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

      uint8_t data_lengthT = *(inbuffer + offset++);

      if(data_lengthT > data_length)

        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));

      offset += 3;

      data_length = data_lengthT;

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

      uint32_t * val_st_data = (uint32_t*) &(this->st_data);

      offset += 3;

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

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

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

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

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

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

      if(exp_st_data !=0)

        *val_st_data |= ((exp_st_data)-1023+127)<<23;

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

        memcpy( &(this->data[i]), &(this->st_data), sizeof(float));

      }

     return offset;

    }

    const char * getType(){ return "std_msgs/Float64MultiArray"; };

    const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };

  };

}

#endif