rosserial for Hydro
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Diff: geometry_msgs/PoseWithCovariance.h
- Revision:
- 3:1cf99502f396
- Parent:
- 1:ff0ec969dad1
--- a/geometry_msgs/PoseWithCovariance.h Sun Oct 16 09:35:11 2011 +0000 +++ b/geometry_msgs/PoseWithCovariance.h Sat Nov 12 23:54:45 2011 +0000 @@ -1,10 +1,10 @@ -#ifndef ros_geometry_msgs_PoseWithCovariance_h -#define ros_geometry_msgs_PoseWithCovariance_h +#ifndef _ROS_geometry_msgs_PoseWithCovariance_h +#define _ROS_geometry_msgs_PoseWithCovariance_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" #include "geometry_msgs/Pose.h" namespace geometry_msgs @@ -16,17 +16,17 @@ geometry_msgs::Pose pose; float covariance[36]; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->pose.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->pose.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/PoseWithCovariance"; }; + virtual const char * getType(){ return "geometry_msgs/PoseWithCovariance"; }; + virtual const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; }; };