root / quad2 / arduino / src / ros_lib / geometry_msgs / Point.h @ c1426757
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#ifndef _ROS_geometry_msgs_Point_h
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#define _ROS_geometry_msgs_Point_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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namespace geometry_msgs |
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{ |
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class Point : public ros::Msg |
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{ |
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public:
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float x;
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float y;
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float z;
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virtual int serialize(unsigned char *outbuffer) const |
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{ |
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int offset = 0; |
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int32_t * val_x = (long *) &(this->x);
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int32_t exp_x = (((*val_x)>>23)&255); |
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if(exp_x != 0) |
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exp_x += 1023-127; |
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int32_t sig_x = *val_x; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = (sig_x<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_x>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_x>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_x>>4) & 0x7F; |
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if(this->x < 0) *(outbuffer + offset -1) |= 0x80; |
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int32_t * val_y = (long *) &(this->y);
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int32_t exp_y = (((*val_y)>>23)&255); |
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if(exp_y != 0) |
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exp_y += 1023-127; |
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int32_t sig_y = *val_y; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = (sig_y<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_y>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_y>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_y>>4) & 0x7F; |
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if(this->y < 0) *(outbuffer + offset -1) |= 0x80; |
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int32_t * val_z = (long *) &(this->z);
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int32_t exp_z = (((*val_z)>>23)&255); |
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if(exp_z != 0) |
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exp_z += 1023-127; |
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int32_t sig_z = *val_z; |
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = 0;
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*(outbuffer + offset++) = (sig_z<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_z>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_z>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_z>>4) & 0x7F; |
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if(this->z < 0) *(outbuffer + offset -1) |= 0x80; |
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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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uint32_t * val_x = (uint32_t*) &(this->x); |
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offset += 3;
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*val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_x !=0) |
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*val_x |= ((exp_x)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x; |
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uint32_t * val_y = (uint32_t*) &(this->y); |
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offset += 3;
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*val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_y !=0) |
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*val_y |= ((exp_y)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y; |
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uint32_t * val_z = (uint32_t*) &(this->z); |
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offset += 3;
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*val_z = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_z |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_z = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_z |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_z !=0) |
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*val_z |= ((exp_z)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z; |
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return offset;
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} |
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const char * getType(){ return "geometry_msgs/Point"; }; |
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const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; }; |
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}; |
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} |
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#endif
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