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/Quaternion.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_Quaternion_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_geometry_msgs_Quaternion_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
akashvibhute 0:30537dec6e0b 9 namespace geometry_msgs
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class Quaternion : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 float x;
akashvibhute 0:30537dec6e0b 16 float y;
akashvibhute 0:30537dec6e0b 17 float z;
akashvibhute 0:30537dec6e0b 18 float w;
akashvibhute 0:30537dec6e0b 19
akashvibhute 0:30537dec6e0b 20 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 21 {
akashvibhute 0:30537dec6e0b 22 int offset = 0;
akashvibhute 0:30537dec6e0b 23 int32_t * val_x = (long *) &(this->x);
akashvibhute 0:30537dec6e0b 24 int32_t exp_x = (((*val_x)>>23)&255);
akashvibhute 0:30537dec6e0b 25 if(exp_x != 0)
akashvibhute 0:30537dec6e0b 26 exp_x += 1023-127;
akashvibhute 0:30537dec6e0b 27 int32_t sig_x = *val_x;
akashvibhute 0:30537dec6e0b 28 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 29 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 30 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 31 *(outbuffer + offset++) = (sig_x<<5) & 0xff;
akashvibhute 0:30537dec6e0b 32 *(outbuffer + offset++) = (sig_x>>3) & 0xff;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset++) = (sig_x>>11) & 0xff;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset++) = (exp_x>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 36 if(this->x < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 37 int32_t * val_y = (long *) &(this->y);
akashvibhute 0:30537dec6e0b 38 int32_t exp_y = (((*val_y)>>23)&255);
akashvibhute 0:30537dec6e0b 39 if(exp_y != 0)
akashvibhute 0:30537dec6e0b 40 exp_y += 1023-127;
akashvibhute 0:30537dec6e0b 41 int32_t sig_y = *val_y;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = (sig_y<<5) & 0xff;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = (sig_y>>3) & 0xff;
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset++) = (sig_y>>11) & 0xff;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset++) = (exp_y>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 50 if(this->y < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 51 int32_t * val_z = (long *) &(this->z);
akashvibhute 0:30537dec6e0b 52 int32_t exp_z = (((*val_z)>>23)&255);
akashvibhute 0:30537dec6e0b 53 if(exp_z != 0)
akashvibhute 0:30537dec6e0b 54 exp_z += 1023-127;
akashvibhute 0:30537dec6e0b 55 int32_t sig_z = *val_z;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = (sig_z<<5) & 0xff;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset++) = (sig_z>>3) & 0xff;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset++) = (sig_z>>11) & 0xff;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F);
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset++) = (exp_z>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 64 if(this->z < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 65 int32_t * val_w = (long *) &(this->w);
akashvibhute 0:30537dec6e0b 66 int32_t exp_w = (((*val_w)>>23)&255);
akashvibhute 0:30537dec6e0b 67 if(exp_w != 0)
akashvibhute 0:30537dec6e0b 68 exp_w += 1023-127;
akashvibhute 0:30537dec6e0b 69 int32_t sig_w = *val_w;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset++) = (sig_w<<5) & 0xff;
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = (sig_w>>3) & 0xff;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset++) = (sig_w>>11) & 0xff;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset++) = ((exp_w<<4) & 0xF0) | ((sig_w>>19)&0x0F);
akashvibhute 0:30537dec6e0b 77 *(outbuffer + offset++) = (exp_w>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 78 if(this->w < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 79 return offset;
akashvibhute 0:30537dec6e0b 80 }
akashvibhute 0:30537dec6e0b 81
akashvibhute 0:30537dec6e0b 82 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 83 {
akashvibhute 0:30537dec6e0b 84 int offset = 0;
akashvibhute 0:30537dec6e0b 85 uint32_t * val_x = (uint32_t*) &(this->x);
akashvibhute 0:30537dec6e0b 86 offset += 3;
akashvibhute 0:30537dec6e0b 87 *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 88 *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 89 *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 90 *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 91 uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 92 exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 93 if(exp_x !=0)
akashvibhute 0:30537dec6e0b 94 *val_x |= ((exp_x)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 95 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
akashvibhute 0:30537dec6e0b 96 uint32_t * val_y = (uint32_t*) &(this->y);
akashvibhute 0:30537dec6e0b 97 offset += 3;
akashvibhute 0:30537dec6e0b 98 *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 99 *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 100 *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 101 *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 102 uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 103 exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 104 if(exp_y !=0)
akashvibhute 0:30537dec6e0b 105 *val_y |= ((exp_y)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 106 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
akashvibhute 0:30537dec6e0b 107 uint32_t * val_z = (uint32_t*) &(this->z);
akashvibhute 0:30537dec6e0b 108 offset += 3;
akashvibhute 0:30537dec6e0b 109 *val_z = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 110 *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 111 *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 112 *val_z |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 113 uint32_t exp_z = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 114 exp_z |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 115 if(exp_z !=0)
akashvibhute 0:30537dec6e0b 116 *val_z |= ((exp_z)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 117 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z;
akashvibhute 0:30537dec6e0b 118 uint32_t * val_w = (uint32_t*) &(this->w);
akashvibhute 0:30537dec6e0b 119 offset += 3;
akashvibhute 0:30537dec6e0b 120 *val_w = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 121 *val_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 122 *val_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 123 *val_w |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 124 uint32_t exp_w = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 125 exp_w |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 126 if(exp_w !=0)
akashvibhute 0:30537dec6e0b 127 *val_w |= ((exp_w)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 128 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->w = -this->w;
akashvibhute 0:30537dec6e0b 129 return offset;
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131
akashvibhute 0:30537dec6e0b 132 virtual const char * getType(){ return "geometry_msgs/Quaternion"; };
akashvibhute 0:30537dec6e0b 133 virtual const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; };
akashvibhute 0:30537dec6e0b 134
akashvibhute 0:30537dec6e0b 135 };
akashvibhute 0:30537dec6e0b 136
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138 #endif