Jesi Miranda
/
ros_lib_kinetic_jesi
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NavSatFix.h
00001 #ifndef _ROS_sensor_msgs_NavSatFix_h 00002 #define _ROS_sensor_msgs_NavSatFix_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "sensor_msgs/NavSatStatus.h" 00010 00011 namespace sensor_msgs 00012 { 00013 00014 class NavSatFix : public ros::Msg 00015 { 00016 public: 00017 typedef std_msgs::Header _header_type; 00018 _header_type header; 00019 typedef sensor_msgs::NavSatStatus _status_type; 00020 _status_type status; 00021 typedef double _latitude_type; 00022 _latitude_type latitude; 00023 typedef double _longitude_type; 00024 _longitude_type longitude; 00025 typedef double _altitude_type; 00026 _altitude_type altitude; 00027 double position_covariance[9]; 00028 typedef uint8_t _position_covariance_type_type; 00029 _position_covariance_type_type position_covariance_type; 00030 enum { COVARIANCE_TYPE_UNKNOWN = 0 }; 00031 enum { COVARIANCE_TYPE_APPROXIMATED = 1 }; 00032 enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 }; 00033 enum { COVARIANCE_TYPE_KNOWN = 3 }; 00034 00035 NavSatFix(): 00036 header(), 00037 status(), 00038 latitude(0), 00039 longitude(0), 00040 altitude(0), 00041 position_covariance(), 00042 position_covariance_type(0) 00043 { 00044 } 00045 00046 virtual int serialize(unsigned char *outbuffer) const 00047 { 00048 int offset = 0; 00049 offset += this->header.serialize(outbuffer + offset); 00050 offset += this->status.serialize(outbuffer + offset); 00051 union { 00052 double real; 00053 uint64_t base; 00054 } u_latitude; 00055 u_latitude.real = this->latitude; 00056 *(outbuffer + offset + 0) = (u_latitude.base >> (8 * 0)) & 0xFF; 00057 *(outbuffer + offset + 1) = (u_latitude.base >> (8 * 1)) & 0xFF; 00058 *(outbuffer + offset + 2) = (u_latitude.base >> (8 * 2)) & 0xFF; 00059 *(outbuffer + offset + 3) = (u_latitude.base >> (8 * 3)) & 0xFF; 00060 *(outbuffer + offset + 4) = (u_latitude.base >> (8 * 4)) & 0xFF; 00061 *(outbuffer + offset + 5) = (u_latitude.base >> (8 * 5)) & 0xFF; 00062 *(outbuffer + offset + 6) = (u_latitude.base >> (8 * 6)) & 0xFF; 00063 *(outbuffer + offset + 7) = (u_latitude.base >> (8 * 7)) & 0xFF; 00064 offset += sizeof(this->latitude); 00065 union { 00066 double real; 00067 uint64_t base; 00068 } u_longitude; 00069 u_longitude.real = this->longitude; 00070 *(outbuffer + offset + 0) = (u_longitude.base >> (8 * 0)) & 0xFF; 00071 *(outbuffer + offset + 1) = (u_longitude.base >> (8 * 1)) & 0xFF; 00072 *(outbuffer + offset + 2) = (u_longitude.base >> (8 * 2)) & 0xFF; 00073 *(outbuffer + offset + 3) = (u_longitude.base >> (8 * 3)) & 0xFF; 00074 *(outbuffer + offset + 4) = (u_longitude.base >> (8 * 4)) & 0xFF; 00075 *(outbuffer + offset + 5) = (u_longitude.base >> (8 * 5)) & 0xFF; 00076 *(outbuffer + offset + 6) = (u_longitude.base >> (8 * 6)) & 0xFF; 00077 *(outbuffer + offset + 7) = (u_longitude.base >> (8 * 7)) & 0xFF; 00078 offset += sizeof(this->longitude); 00079 union { 00080 double real; 00081 uint64_t base; 00082 } u_altitude; 00083 u_altitude.real = this->altitude; 00084 *(outbuffer + offset + 0) = (u_altitude.base >> (8 * 0)) & 0xFF; 00085 *(outbuffer + offset + 1) = (u_altitude.base >> (8 * 1)) & 0xFF; 00086 *(outbuffer + offset + 2) = (u_altitude.base >> (8 * 2)) & 0xFF; 00087 *(outbuffer + offset + 3) = (u_altitude.base >> (8 * 3)) & 0xFF; 00088 *(outbuffer + offset + 4) = (u_altitude.base >> (8 * 4)) & 0xFF; 00089 *(outbuffer + offset + 5) = (u_altitude.base >> (8 * 5)) & 0xFF; 00090 *(outbuffer + offset + 6) = (u_altitude.base >> (8 * 6)) & 0xFF; 00091 *(outbuffer + offset + 7) = (u_altitude.base >> (8 * 7)) & 0xFF; 00092 offset += sizeof(this->altitude); 00093 for( uint32_t i = 0; i < 9; i++){ 00094 union { 00095 double real; 00096 uint64_t base; 00097 } u_position_covariancei; 00098 u_position_covariancei.real = this->position_covariance[i]; 00099 *(outbuffer + offset + 0) = (u_position_covariancei.base >> (8 * 0)) & 0xFF; 00100 *(outbuffer + offset + 1) = (u_position_covariancei.base >> (8 * 1)) & 0xFF; 00101 *(outbuffer + offset + 2) = (u_position_covariancei.base >> (8 * 2)) & 0xFF; 00102 *(outbuffer + offset + 3) = (u_position_covariancei.base >> (8 * 3)) & 0xFF; 00103 *(outbuffer + offset + 4) = (u_position_covariancei.base >> (8 * 4)) & 0xFF; 00104 *(outbuffer + offset + 5) = (u_position_covariancei.base >> (8 * 5)) & 0xFF; 00105 *(outbuffer + offset + 6) = (u_position_covariancei.base >> (8 * 6)) & 0xFF; 00106 *(outbuffer + offset + 7) = (u_position_covariancei.base >> (8 * 7)) & 0xFF; 00107 offset += sizeof(this->position_covariance[i]); 00108 } 00109 *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF; 00110 offset += sizeof(this->position_covariance_type); 00111 return offset; 00112 } 00113 00114 virtual int deserialize(unsigned char *inbuffer) 00115 { 00116 int offset = 0; 00117 offset += this->header.deserialize(inbuffer + offset); 00118 offset += this->status.deserialize(inbuffer + offset); 00119 union { 00120 double real; 00121 uint64_t base; 00122 } u_latitude; 00123 u_latitude.base = 0; 00124 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00125 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00126 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00127 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00128 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00129 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00130 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00131 u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00132 this->latitude = u_latitude.real; 00133 offset += sizeof(this->latitude); 00134 union { 00135 double real; 00136 uint64_t base; 00137 } u_longitude; 00138 u_longitude.base = 0; 00139 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00140 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00141 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00142 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00143 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00144 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00145 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00146 u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00147 this->longitude = u_longitude.real; 00148 offset += sizeof(this->longitude); 00149 union { 00150 double real; 00151 uint64_t base; 00152 } u_altitude; 00153 u_altitude.base = 0; 00154 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00155 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00156 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00157 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00158 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00159 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00160 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00161 u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00162 this->altitude = u_altitude.real; 00163 offset += sizeof(this->altitude); 00164 for( uint32_t i = 0; i < 9; i++){ 00165 union { 00166 double real; 00167 uint64_t base; 00168 } u_position_covariancei; 00169 u_position_covariancei.base = 0; 00170 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00171 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00172 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00173 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00174 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00175 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00176 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00177 u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00178 this->position_covariance[i] = u_position_covariancei.real; 00179 offset += sizeof(this->position_covariance[i]); 00180 } 00181 this->position_covariance_type = ((uint8_t) (*(inbuffer + offset))); 00182 offset += sizeof(this->position_covariance_type); 00183 return offset; 00184 } 00185 00186 const char * getType(){ return "sensor_msgs/NavSatFix"; }; 00187 const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; }; 00188 00189 }; 00190 00191 } 00192 #endif
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