Quadrotor

#ifndef _ROS_sensor_msgs_NavSatFix_h

#define _ROS_sensor_msgs_NavSatFix_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

#include "std_msgs/Header.h"

#include "sensor_msgs/NavSatStatus.h"

namespace sensor_msgs

{

  class NavSatFix : public ros::Msg

  {

    public:

      std_msgs::Header header;

      sensor_msgs::NavSatStatus status;

      float latitude;

      float longitude;

      float altitude;

      float position_covariance[9];

      uint8_t position_covariance_type;

      enum { COVARIANCE_TYPE_UNKNOWN =  0 };

      enum { COVARIANCE_TYPE_APPROXIMATED =  1 };

      enum { COVARIANCE_TYPE_DIAGONAL_KNOWN =  2 };

      enum { COVARIANCE_TYPE_KNOWN =  3 };

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

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

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

      int32_t * val_latitude = (long *) &(this->latitude);

      int32_t exp_latitude = (((*val_latitude)>>23)&255);

      if(exp_latitude != 0)

        exp_latitude += 1023-127;

      int32_t sig_latitude = *val_latitude;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

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

      int32_t * val_longitude = (long *) &(this->longitude);

      int32_t exp_longitude = (((*val_longitude)>>23)&255);

      if(exp_longitude != 0)

        exp_longitude += 1023-127;

      int32_t sig_longitude = *val_longitude;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

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

      int32_t * val_altitude = (long *) &(this->altitude);

      int32_t exp_altitude = (((*val_altitude)>>23)&255);

      if(exp_altitude != 0)

        exp_altitude += 1023-127;

      int32_t sig_altitude = *val_altitude;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

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

      unsigned char * position_covariance_val = (unsigned char *) this->position_covariance;

      for( uint8_t i = 0; i < 9; i++){

      int32_t * val_position_covariancei = (long *) &(this->position_covariance[i]);

      int32_t exp_position_covariancei = (((*val_position_covariancei)>>23)&255);

      if(exp_position_covariancei != 0)

        exp_position_covariancei += 1023-127;

      int32_t sig_position_covariancei = *val_position_covariancei;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

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

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

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

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

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

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

      }

      *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;

      offset += sizeof(this->position_covariance_type);

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

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

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

      uint32_t * val_latitude = (uint32_t*) &(this->latitude);

      offset += 3;

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

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

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

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

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

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

      if(exp_latitude !=0)

        *val_latitude |= ((exp_latitude)-1023+127)<<23;

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

      uint32_t * val_longitude = (uint32_t*) &(this->longitude);

      offset += 3;

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

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

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

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

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

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

      if(exp_longitude !=0)

        *val_longitude |= ((exp_longitude)-1023+127)<<23;

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

      uint32_t * val_altitude = (uint32_t*) &(this->altitude);

      offset += 3;

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

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

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

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

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

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

      if(exp_altitude !=0)

        *val_altitude |= ((exp_altitude)-1023+127)<<23;

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

      uint8_t * position_covariance_val = (uint8_t*) this->position_covariance;

      for( uint8_t i = 0; i < 9; i++){

      uint32_t * val_position_covariancei = (uint32_t*) &(this->position_covariance[i]);

      offset += 3;

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

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

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

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

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

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

      if(exp_position_covariancei !=0)

        *val_position_covariancei |= ((exp_position_covariancei)-1023+127)<<23;

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

      }

      this->position_covariance_type |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);

      offset += sizeof(this->position_covariance_type);

     return offset;

    }

    const char * getType(){ return "sensor_msgs/NavSatFix"; };

    const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };

  };

}

#endif