Fork of ROS Serial Library
Dependencies: BufferedSerial
Diff: geometry_msgs/Quaternion.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/geometry_msgs/Quaternion.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,166 @@ +#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: + typedef double _x_type; + _x_type x; + typedef double _y_type; + _y_type y; + typedef double _z_type; + _z_type z; + typedef double _w_type; + _w_type w; + + Quaternion(): + x(0), + y(0), + z(0), + w(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + union { + double real; + uint64_t base; + } u_x; + u_x.real = this->x; + *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->x); + union { + double real; + uint64_t base; + } u_y; + u_y.real = this->y; + *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->y); + union { + double real; + uint64_t base; + } u_z; + u_z.real = this->z; + *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->z); + union { + double real; + uint64_t base; + } u_w; + u_w.real = this->w; + *(outbuffer + offset + 0) = (u_w.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_w.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_w.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_w.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_w.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_w.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_w.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_w.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->w); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + union { + double real; + uint64_t base; + } u_x; + u_x.base = 0; + u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->x = u_x.real; + offset += sizeof(this->x); + union { + double real; + uint64_t base; + } u_y; + u_y.base = 0; + u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->y = u_y.real; + offset += sizeof(this->y); + union { + double real; + uint64_t base; + } u_z; + u_z.base = 0; + u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->z = u_z.real; + offset += sizeof(this->z); + union { + double real; + uint64_t base; + } u_w; + u_w.base = 0; + u_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->w = u_w.real; + offset += sizeof(this->w); + return offset; + } + + const char * getType(){ return "geometry_msgs/Quaternion"; }; + const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; }; + + }; + +} +#endif \ No newline at end of file