Diff: sensor_msgs/NavSatFix.h

Revision:

3:1cf99502f396

Parent:

0:77afd7560544

--- a/sensor_msgs/NavSatFix.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/sensor_msgs/NavSatFix.h	Sat Nov 12 23:54:45 2011 +0000
@@ -1,10 +1,10 @@
-#ifndef ros_NavSatFix_h
-#define ros_NavSatFix_h
+#ifndef _ROS_sensor_msgs_NavSatFix_h
+#define _ROS_sensor_msgs_NavSatFix_h
 
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
-#include "../ros/msg.h"
+#include "ros/msg.h"
 #include "std_msgs/Header.h"
 #include "sensor_msgs/NavSatStatus.h"
 
@@ -20,22 +20,22 @@
       float longitude;
       float altitude;
       float position_covariance[9];
-      unsigned char position_covariance_type;
-      enum { COVARIANCE_TYPE_UNKNOWN = 0 };
-      enum { COVARIANCE_TYPE_APPROXIMATED = 1 };
-      enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 };
-      enum { COVARIANCE_TYPE_KNOWN = 3 };
+      uint8_t position_covariance_type;
+      enum { COVARIANCE_TYPE_UNKNOWN =  0 };
+      enum { COVARIANCE_TYPE_APPROXIMATED =  1 };
+      enum { COVARIANCE_TYPE_DIAGONAL_KNOWN =  2 };
+      enum { COVARIANCE_TYPE_KNOWN =  3 };
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
       offset += this->header.serialize(outbuffer + offset);
       offset += this->status.serialize(outbuffer + offset);
-      long * val_latitude = (long *) &(this->latitude);
-      long exp_latitude = (((*val_latitude)>>23)&255);
+      int32_t * val_latitude = (long *) &(this->latitude);
+      int32_t exp_latitude = (((*val_latitude)>>23)&255);
       if(exp_latitude != 0)
         exp_latitude += 1023-127;
-      long sig_latitude = *val_latitude;
+      int32_t sig_latitude = *val_latitude;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -45,11 +45,11 @@
       *(outbuffer + offset++) = ((exp_latitude<<4) & 0xF0) | ((sig_latitude>>19)&0x0F);
       *(outbuffer + offset++) = (exp_latitude>>4) & 0x7F;
       if(this->latitude < 0) *(outbuffer + offset -1) |= 0x80;
-      long * val_longitude = (long *) &(this->longitude);
-      long exp_longitude = (((*val_longitude)>>23)&255);
+      int32_t * val_longitude = (long *) &(this->longitude);
+      int32_t exp_longitude = (((*val_longitude)>>23)&255);
       if(exp_longitude != 0)
         exp_longitude += 1023-127;
-      long sig_longitude = *val_longitude;
+      int32_t sig_longitude = *val_longitude;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -59,11 +59,11 @@
       *(outbuffer + offset++) = ((exp_longitude<<4) & 0xF0) | ((sig_longitude>>19)&0x0F);
       *(outbuffer + offset++) = (exp_longitude>>4) & 0x7F;
       if(this->longitude < 0) *(outbuffer + offset -1) |= 0x80;
-      long * val_altitude = (long *) &(this->altitude);
-      long exp_altitude = (((*val_altitude)>>23)&255);
+      int32_t * val_altitude = (long *) &(this->altitude);
+      int32_t exp_altitude = (((*val_altitude)>>23)&255);
       if(exp_altitude != 0)
         exp_altitude += 1023-127;
-      long sig_altitude = *val_altitude;
+      int32_t sig_altitude = *val_altitude;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -74,12 +74,12 @@
       *(outbuffer + offset++) = (exp_altitude>>4) & 0x7F;
       if(this->altitude < 0) *(outbuffer + offset -1) |= 0x80;
       unsigned char * position_covariance_val = (unsigned char *) this->position_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      long * val_position_covariancei = (long *) &(this->position_covariance[i]);
-      long exp_position_covariancei = (((*val_position_covariancei)>>23)&255);
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_position_covariancei = (long *) &(this->position_covariance[i]);
+      int32_t exp_position_covariancei = (((*val_position_covariancei)>>23)&255);
       if(exp_position_covariancei != 0)
         exp_position_covariancei += 1023-127;
-      long sig_position_covariancei = *val_position_covariancei;
+      int32_t sig_position_covariancei = *val_position_covariancei;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -90,12 +90,7 @@
       *(outbuffer + offset++) = (exp_position_covariancei>>4) & 0x7F;
       if(this->position_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
       }
-      union {
-        unsigned char real;
-        unsigned char base;
-      } u_position_covariance_type;
-      u_position_covariance_type.real = this->position_covariance_type;
-      *(outbuffer + offset + 0) = (u_position_covariance_type.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
       offset += sizeof(this->position_covariance_type);
       return offset;
     }
@@ -105,65 +100,60 @@
       int offset = 0;
       offset += this->header.deserialize(inbuffer + offset);
       offset += this->status.deserialize(inbuffer + offset);
-      unsigned long * val_latitude = (unsigned long*) &(this->latitude);
+      uint32_t * val_latitude = (uint32_t*) &(this->latitude);
       offset += 3;
-      *val_latitude = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_latitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_latitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_latitude |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_latitude = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_latitude |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_latitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_latitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_latitude !=0)
         *val_latitude |= ((exp_latitude)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->latitude = -this->latitude;
-      unsigned long * val_longitude = (unsigned long*) &(this->longitude);
+      uint32_t * val_longitude = (uint32_t*) &(this->longitude);
       offset += 3;
-      *val_longitude = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_longitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_longitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_longitude |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_longitude = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_longitude |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_longitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_longitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_longitude !=0)
         *val_longitude |= ((exp_longitude)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->longitude = -this->longitude;
-      unsigned long * val_altitude = (unsigned long*) &(this->altitude);
+      uint32_t * val_altitude = (uint32_t*) &(this->altitude);
       offset += 3;
-      *val_altitude = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_altitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_altitude |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_altitude |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_altitude = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_altitude |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_altitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_altitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_altitude !=0)
         *val_altitude |= ((exp_altitude)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->altitude = -this->altitude;
-      unsigned char * position_covariance_val = (unsigned char *) this->position_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      unsigned long * val_position_covariancei = (unsigned long*) &(this->position_covariance[i]);
+      uint8_t * position_covariance_val = (uint8_t*) this->position_covariance;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_position_covariancei = (uint32_t*) &(this->position_covariance[i]);
       offset += 3;
-      *val_position_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_position_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_position_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_position_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_position_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_position_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_position_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_position_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_position_covariancei !=0)
         *val_position_covariancei |= ((exp_position_covariancei)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position_covariance[i] = -this->position_covariance[i];
       }
-      union {
-        unsigned char real;
-        unsigned char base;
-      } u_position_covariance_type;
-      u_position_covariance_type.base = 0;
-      u_position_covariance_type.base |= ((typeof(u_position_covariance_type.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      this->position_covariance_type = u_position_covariance_type.real;
+      this->position_covariance_type |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
       offset += sizeof(this->position_covariance_type);
      return offset;
     }
 
-   virtual const char * getType(){ return "sensor_msgs/NavSatFix"; };
+    virtual const char * getType(){ return "sensor_msgs/NavSatFix"; };
+    virtual const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
 
   };