Diff: geometry_msgs/TwistWithCovariance.h

Revision:

3:1cf99502f396

Parent:

1:ff0ec969dad1

--- a/geometry_msgs/TwistWithCovariance.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/geometry_msgs/TwistWithCovariance.h	Sat Nov 12 23:54:45 2011 +0000
@@ -1,10 +1,10 @@
-#ifndef ros_geometry_msgs_TwistWithCovariance_h
-#define ros_geometry_msgs_TwistWithCovariance_h
+#ifndef _ROS_geometry_msgs_TwistWithCovariance_h
+#define _ROS_geometry_msgs_TwistWithCovariance_h
 
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
-#include "../ros/msg.h"
+#include "ros/msg.h"
 #include "geometry_msgs/Twist.h"
 
 namespace geometry_msgs
@@ -16,17 +16,17 @@
       geometry_msgs::Twist twist;
       float covariance[36];
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
       offset += this->twist.serialize(outbuffer + offset);
       unsigned char * covariance_val = (unsigned char *) this->covariance;
-      for( unsigned char i = 0; i < 36; i++){
-      long * val_covariancei = (long *) &(this->covariance[i]);
-      long exp_covariancei = (((*val_covariancei)>>23)&255);
+      for( uint8_t i = 0; i < 36; i++){
+      int32_t * val_covariancei = (long *) &(this->covariance[i]);
+      int32_t exp_covariancei = (((*val_covariancei)>>23)&255);
       if(exp_covariancei != 0)
         exp_covariancei += 1023-127;
-      long sig_covariancei = *val_covariancei;
+      int32_t sig_covariancei = *val_covariancei;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -44,16 +44,16 @@
     {
       int offset = 0;
       offset += this->twist.deserialize(inbuffer + offset);
-      unsigned char * covariance_val = (unsigned char *) this->covariance;
-      for( unsigned char i = 0; i < 36; i++){
-      unsigned long * val_covariancei = (unsigned long*) &(this->covariance[i]);
+      uint8_t * covariance_val = (uint8_t*) this->covariance;
+      for( uint8_t i = 0; i < 36; i++){
+      uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);
       offset += 3;
-      *val_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_covariancei !=0)
         *val_covariancei |= ((exp_covariancei)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];
@@ -61,7 +61,8 @@
      return offset;
     }
 
-   virtual const char * getType(){ return "geometry_msgs/TwistWithCovariance"; };
+    virtual const char * getType(){ return "geometry_msgs/TwistWithCovariance"; };
+    virtual const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; };
 
   };