rosserial for Hydro
Fork of rosserial_mbed_lib by
geometry_msgs/Quaternion.h
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
File content as of revision 0:77afd7560544:
#ifndef ros_Quaternion_h #define ros_Quaternion_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" namespace geometry_msgs { class Quaternion : public ros::Msg { public: float x; float y; float z; float w; 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; long * val_w = (long *) &(this->w); long exp_w = (((*val_w)>>23)&255); if(exp_w != 0) exp_w += 1023-127; long sig_w = *val_w; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_w<<5) & 0xff; *(outbuffer + offset++) = (sig_w>>3) & 0xff; *(outbuffer + offset++) = (sig_w>>11) & 0xff; *(outbuffer + offset++) = ((exp_w<<4) & 0xF0) | ((sig_w>>19)&0x0F); *(outbuffer + offset++) = (exp_w>>4) & 0x7F; if(this->w < 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; unsigned long * val_w = (unsigned long*) &(this->w); offset += 3; *val_w = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); *val_w |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; *val_w |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; *val_w |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; unsigned long exp_w = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; exp_w |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_w !=0) *val_w |= ((exp_w)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->w = -this->w; return offset; } virtual const char * getType(){ return "geometry_msgs/Quaternion"; }; }; } #endif