Quadrotor

#ifndef _ROS_geometry_msgs_Quaternion_h

#define _ROS_geometry_msgs_Quaternion_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

namespace geometry_msgs

{

  class Quaternion : public ros::Msg

  {

    public:

      float x;

      float y;

      float z;

      float w;

    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_z = (long *) &(this->z);

      int32_t exp_z = (((*val_z)>>23)&255);

      if(exp_z != 0)

        exp_z += 1023-127;

      int32_t sig_z = *val_z;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

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

      int32_t * val_w = (long *) &(this->w);

      int32_t exp_w = (((*val_w)>>23)&255);

      if(exp_w != 0)

        exp_w += 1023-127;

      int32_t sig_w = *val_w;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

      if(this->w < 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_z = (uint32_t*) &(this->z);

      offset += 3;

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

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

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

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

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

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

      if(exp_z !=0)

        *val_z |= ((exp_z)-1023+127)<<23;

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

      uint32_t * val_w = (uint32_t*) &(this->w);

      offset += 3;

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

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

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

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

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

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

      if(exp_w !=0)

        *val_w |= ((exp_w)-1023+127)<<23;

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

     return offset;

    }

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

    const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; };

  };

}

#endif