rosserial for Hydro
Fork of rosserial_mbed_lib by
Diff: geometry_msgs/Vector3.h
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/geometry_msgs/Vector3.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,111 @@ +#ifndef ros_Vector3_h +#define ros_Vector3_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" + +namespace geometry_msgs +{ + + class Vector3 : public ros::Msg + { + public: + float x; + float y; + float z; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + long * val_x = (long *) &(this->x); + long exp_x = (((*val_x)>>23)&255); + if(exp_x != 0) + exp_x += 1023-127; + long sig_x = *val_x; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = (sig_x<<5) & 0xff; + *(outbuffer + offset++) = (sig_x>>3) & 0xff; + *(outbuffer + offset++) = (sig_x>>11) & 0xff; + *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F); + *(outbuffer + offset++) = (exp_x>>4) & 0x7F; + if(this->x < 0) *(outbuffer + offset -1) |= 0x80; + long * val_y = (long *) &(this->y); + long exp_y = (((*val_y)>>23)&255); + if(exp_y != 0) + exp_y += 1023-127; + long sig_y = *val_y; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = (sig_y<<5) & 0xff; + *(outbuffer + offset++) = (sig_y>>3) & 0xff; + *(outbuffer + offset++) = (sig_y>>11) & 0xff; + *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F); + *(outbuffer + offset++) = (exp_y>>4) & 0x7F; + if(this->y < 0) *(outbuffer + offset -1) |= 0x80; + long * val_z = (long *) &(this->z); + long exp_z = (((*val_z)>>23)&255); + if(exp_z != 0) + exp_z += 1023-127; + long sig_z = *val_z; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = (sig_z<<5) & 0xff; + *(outbuffer + offset++) = (sig_z>>3) & 0xff; + *(outbuffer + offset++) = (sig_z>>11) & 0xff; + *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F); + *(outbuffer + offset++) = (exp_z>>4) & 0x7F; + if(this->z < 0) *(outbuffer + offset -1) |= 0x80; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + unsigned long * val_x = (unsigned long*) &(this->x); + offset += 3; + *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); + *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; + *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; + *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; + unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; + exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + if(exp_x !=0) + *val_x |= ((exp_x)-1023+127)<<23; + if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x; + unsigned long * val_y = (unsigned long*) &(this->y); + offset += 3; + *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); + *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; + *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; + *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; + unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; + exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + if(exp_y !=0) + *val_y |= ((exp_y)-1023+127)<<23; + if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y; + unsigned long * val_z = (unsigned long*) &(this->z); + offset += 3; + *val_z = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); + *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; + *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; + *val_z |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; + unsigned long exp_z = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; + exp_z |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + if(exp_z !=0) + *val_z |= ((exp_z)-1023+127)<<23; + if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z; + return offset; + } + + virtual const char * getType(){ return "geometry_msgs/Vector3"; }; + + }; + +} +#endif \ No newline at end of file