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rosserial_mbed_lib
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Fork of
rosserial_mbed_lib
by 
nucho
geometry_msgs/TwistWithCovariance.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | #ifndef ros_TwistWithCovariance_h |
| nucho | 0:77afd7560544 | 2 | #define ros_TwistWithCovariance_h |
| nucho | 0:77afd7560544 | 3 | |
| nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 5 | #include <string.h> |
| nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
| nucho | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | #include "geometry_msgs/Twist.h" |
| nucho | 0:77afd7560544 | 9 | |
| nucho | 0:77afd7560544 | 10 | namespace geometry_msgs |
| nucho | 0:77afd7560544 | 11 | { |
| nucho | 0:77afd7560544 | 12 | |
| nucho | 0:77afd7560544 | 13 | class TwistWithCovariance : public ros::Msg |
| nucho | 0:77afd7560544 | 14 | { |
| nucho | 0:77afd7560544 | 15 | public: |
| nucho | 0:77afd7560544 | 16 | geometry_msgs::Twist twist; |
| nucho | 0:77afd7560544 | 17 | float covariance[36]; |
| nucho | 0:77afd7560544 | 18 | |
| nucho | 0:77afd7560544 | 19 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 20 | { |
| nucho | 0:77afd7560544 | 21 | int offset = 0; |
| nucho | 0:77afd7560544 | 22 | offset += this->twist.serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 23 | unsigned char * covariance_val = (unsigned char *) this->covariance; |
| nucho | 0:77afd7560544 | 24 | for( unsigned char i = 0; i < 36; i++){ |
| nucho | 0:77afd7560544 | 25 | long * val_covariancei = (long *) &(this->covariance[i]); |
| nucho | 0:77afd7560544 | 26 | long exp_covariancei = (((*val_covariancei)>>23)&255); |
| nucho | 0:77afd7560544 | 27 | if(exp_covariancei != 0) |
| nucho | 0:77afd7560544 | 28 | exp_covariancei += 1023-127; |
| nucho | 0:77afd7560544 | 29 | long sig_covariancei = *val_covariancei; |
| nucho | 0:77afd7560544 | 30 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 31 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 32 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 33 | *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff; |
| nucho | 0:77afd7560544 | 34 | *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff; |
| nucho | 0:77afd7560544 | 35 | *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff; |
| nucho | 0:77afd7560544 | 36 | *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F); |
| nucho | 0:77afd7560544 | 37 | *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F; |
| nucho | 0:77afd7560544 | 38 | if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
| nucho | 0:77afd7560544 | 39 | } |
| nucho | 0:77afd7560544 | 40 | return offset; |
| nucho | 0:77afd7560544 | 41 | } |
| nucho | 0:77afd7560544 | 42 | |
| nucho | 0:77afd7560544 | 43 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 44 | { |
| nucho | 0:77afd7560544 | 45 | int offset = 0; |
| nucho | 0:77afd7560544 | 46 | offset += this->twist.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 47 | unsigned char * covariance_val = (unsigned char *) this->covariance; |
| nucho | 0:77afd7560544 | 48 | for( unsigned char i = 0; i < 36; i++){ |
| nucho | 0:77afd7560544 | 49 | unsigned long * val_covariancei = (unsigned long*) &(this->covariance[i]); |
| nucho | 0:77afd7560544 | 50 | offset += 3; |
| nucho | 0:77afd7560544 | 51 | *val_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); |
| nucho | 0:77afd7560544 | 52 | *val_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; |
| nucho | 0:77afd7560544 | 53 | *val_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; |
| nucho | 0:77afd7560544 | 54 | *val_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; |
| nucho | 0:77afd7560544 | 55 | unsigned long exp_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; |
| nucho | 0:77afd7560544 | 56 | exp_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; |
| nucho | 0:77afd7560544 | 57 | if(exp_covariancei !=0) |
| nucho | 0:77afd7560544 | 58 | *val_covariancei |= ((exp_covariancei)-1023+127)<<23; |
| nucho | 0:77afd7560544 | 59 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i]; |
| nucho | 0:77afd7560544 | 60 | } |
| nucho | 0:77afd7560544 | 61 | return offset; |
| nucho | 0:77afd7560544 | 62 | } |
| nucho | 0:77afd7560544 | 63 | |
| nucho | 0:77afd7560544 | 64 | virtual const char * getType(){ return "geometry_msgs/TwistWithCovariance"; }; |
| nucho | 0:77afd7560544 | 65 | |
| nucho | 0:77afd7560544 | 66 | }; |
| nucho | 0:77afd7560544 | 67 | |
| nucho | 0:77afd7560544 | 68 | } |
| nucho | 0:77afd7560544 | 69 | #endif |