Diff: std_msgs/Float64.h

Revision:

0:77afd7560544

Child:

1:ff0ec969dad1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Float64.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,59 @@
+#ifndef ros_Float64_h
+#define ros_Float64_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Float64 : public ros::Msg
+  {
+    public:
+      float data;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      long * val_data = (long *) &(this->data);
+      long exp_data = (((*val_data)>>23)&255);
+      if(exp_data != 0)
+        exp_data += 1023-127;
+      long sig_data = *val_data;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_data<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_data>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_data>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_data<<4) & 0xF0) | ((sig_data>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_data>>4) & 0x7F;
+      if(this->data < 0) *(outbuffer + offset -1) |= 0x80;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      unsigned long * val_data = (unsigned long*) &(this->data);
+      offset += 3;
+      *val_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_data !=0)
+        *val_data |= ((exp_data)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data;
+     return offset;
+    }
+
+    virtual const char * getType(){ return "std_msgs/Float64"; };
+
+  };
+
+}
+#endif
\ No newline at end of file