root / quad2 / arduino / src / ros_lib / geometry_msgs / TwistWithCovariance.h @ c1426757
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#ifndef _ROS_geometry_msgs_TwistWithCovariance_h
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#define _ROS_geometry_msgs_TwistWithCovariance_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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#include "geometry_msgs/Twist.h" |
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namespace geometry_msgs |
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{ |
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class TwistWithCovariance : public ros::Msg |
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{ |
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public:
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geometry_msgs::Twist twist; |
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float covariance[36]; |
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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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offset += this->twist.serialize(outbuffer + offset); |
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unsigned char * covariance_val = (unsigned char *) this->covariance; |
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for( uint8_t i = 0; i < 36; i++){ |
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int32_t * val_covariancei = (long *) &(this->covariance[i]);
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int32_t exp_covariancei = (((*val_covariancei)>>23)&255); |
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if(exp_covariancei != 0) |
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exp_covariancei += 1023-127; |
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int32_t sig_covariancei = *val_covariancei; |
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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_covariancei<<5) & 0xff; |
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*(outbuffer + offset++) = (sig_covariancei>>3) & 0xff; |
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*(outbuffer + offset++) = (sig_covariancei>>11) & 0xff; |
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*(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F); |
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*(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F; |
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if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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} |
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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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offset += this->twist.deserialize(inbuffer + offset); |
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uint8_t * covariance_val = (uint8_t*) this->covariance; |
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for( uint8_t i = 0; i < 36; i++){ |
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uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]); |
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offset += 3;
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*val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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*val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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*val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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*val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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if(exp_covariancei !=0) |
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*val_covariancei |= ((exp_covariancei)-1023+127)<<23; |
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if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i]; |
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} |
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return offset;
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} |
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const char * getType(){ return "geometry_msgs/TwistWithCovariance"; }; |
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const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; }; |
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}; |
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} |
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#endif
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