Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

geometry_msgs/PoseWithCovariance.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_geometry_msgs_PoseWithCovariance_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_geometry_msgs_PoseWithCovariance_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "geometry_msgs/Pose.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace geometry_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class PoseWithCovariance : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 geometry_msgs::Pose pose;
akashvibhute 0:30537dec6e0b 17 float covariance[36];
akashvibhute 0:30537dec6e0b 18
akashvibhute 0:30537dec6e0b 19 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 20 {
akashvibhute 0:30537dec6e0b 21 int offset = 0;
akashvibhute 0:30537dec6e0b 22 offset += this->pose.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 23 unsigned char * covariance_val = (unsigned char *) this->covariance;
akashvibhute 0:30537dec6e0b 24 for( uint8_t i = 0; i < 36; i++){
akashvibhute 0:30537dec6e0b 25 int32_t * val_covariancei = (long *) &(this->covariance[i]);
akashvibhute 0:30537dec6e0b 26 int32_t exp_covariancei = (((*val_covariancei)>>23)&255);
akashvibhute 0:30537dec6e0b 27 if(exp_covariancei != 0)
akashvibhute 0:30537dec6e0b 28 exp_covariancei += 1023-127;
akashvibhute 0:30537dec6e0b 29 int32_t sig_covariancei = *val_covariancei;
akashvibhute 0:30537dec6e0b 30 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 31 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 32 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff;
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F);
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 38 if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 39 }
akashvibhute 0:30537dec6e0b 40 return offset;
akashvibhute 0:30537dec6e0b 41 }
akashvibhute 0:30537dec6e0b 42
akashvibhute 0:30537dec6e0b 43 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 44 {
akashvibhute 0:30537dec6e0b 45 int offset = 0;
akashvibhute 0:30537dec6e0b 46 offset += this->pose.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 47 uint8_t * covariance_val = (uint8_t*) this->covariance;
akashvibhute 0:30537dec6e0b 48 for( uint8_t i = 0; i < 36; i++){
akashvibhute 0:30537dec6e0b 49 uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);
akashvibhute 0:30537dec6e0b 50 offset += 3;
akashvibhute 0:30537dec6e0b 51 *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 52 *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 53 *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 54 *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 55 uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 56 exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 57 if(exp_covariancei !=0)
akashvibhute 0:30537dec6e0b 58 *val_covariancei |= ((exp_covariancei)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 59 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61 return offset;
akashvibhute 0:30537dec6e0b 62 }
akashvibhute 0:30537dec6e0b 63
akashvibhute 0:30537dec6e0b 64 virtual const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
akashvibhute 0:30537dec6e0b 65 virtual const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
akashvibhute 0:30537dec6e0b 66
akashvibhute 0:30537dec6e0b 67 };
akashvibhute 0:30537dec6e0b 68
akashvibhute 0:30537dec6e0b 69 }
akashvibhute 0:30537dec6e0b 70 #endif