jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

geometry_msgs/TwistWithCovariance.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

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jjzak 6:3c54bc7badd4 1 #ifndef _ROS_geometry_msgs_TwistWithCovariance_h
jjzak 6:3c54bc7badd4 2 #define _ROS_geometry_msgs_TwistWithCovariance_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "geometry_msgs/Twist.h"
jjzak 6:3c54bc7badd4 9
jjzak 6:3c54bc7badd4 10 namespace geometry_msgs
jjzak 6:3c54bc7badd4 11 {
jjzak 6:3c54bc7badd4 12
jjzak 6:3c54bc7badd4 13 class TwistWithCovariance : public ros::Msg
jjzak 6:3c54bc7badd4 14 {
jjzak 6:3c54bc7badd4 15 public:
jjzak 6:3c54bc7badd4 16 geometry_msgs::Twist twist;
jjzak 6:3c54bc7badd4 17 float covariance[36];
jjzak 6:3c54bc7badd4 18
jjzak 6:3c54bc7badd4 19 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 20 {
jjzak 6:3c54bc7badd4 21 int offset = 0;
jjzak 6:3c54bc7badd4 22 offset += this->twist.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 23 unsigned char * covariance_val = (unsigned char *) this->covariance;
jjzak 6:3c54bc7badd4 24 for( uint8_t i = 0; i < 36; i++){
jjzak 6:3c54bc7badd4 25 int32_t * val_covariancei = (int32_t *) &(this->covariance[i]);
jjzak 6:3c54bc7badd4 26 int32_t exp_covariancei = (((*val_covariancei)>>23)&255);
jjzak 6:3c54bc7badd4 27 if(exp_covariancei != 0)
jjzak 6:3c54bc7badd4 28 exp_covariancei += 1023-127;
jjzak 6:3c54bc7badd4 29 int32_t sig_covariancei = *val_covariancei;
jjzak 6:3c54bc7badd4 30 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 31 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 32 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 33 *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff;
jjzak 6:3c54bc7badd4 34 *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff;
jjzak 6:3c54bc7badd4 35 *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff;
jjzak 6:3c54bc7badd4 36 *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F);
jjzak 6:3c54bc7badd4 37 *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F;
jjzak 6:3c54bc7badd4 38 if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 39 }
jjzak 6:3c54bc7badd4 40 return offset;
jjzak 6:3c54bc7badd4 41 }
jjzak 6:3c54bc7badd4 42
jjzak 6:3c54bc7badd4 43 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 44 {
jjzak 6:3c54bc7badd4 45 int offset = 0;
jjzak 6:3c54bc7badd4 46 offset += this->twist.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 47 uint8_t * covariance_val = (uint8_t*) this->covariance;
jjzak 6:3c54bc7badd4 48 for( uint8_t i = 0; i < 36; i++){
jjzak 6:3c54bc7badd4 49 uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);
jjzak 6:3c54bc7badd4 50 offset += 3;
jjzak 6:3c54bc7badd4 51 *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 52 *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 53 *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 54 *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 55 uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 56 exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 57 if(exp_covariancei !=0)
jjzak 6:3c54bc7badd4 58 *val_covariancei |= ((exp_covariancei)-1023+127)<<23;
jjzak 6:3c54bc7badd4 59 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];
jjzak 6:3c54bc7badd4 60 }
jjzak 6:3c54bc7badd4 61 return offset;
jjzak 6:3c54bc7badd4 62 }
jjzak 6:3c54bc7badd4 63
jjzak 6:3c54bc7badd4 64 const char * getType(){ return "geometry_msgs/TwistWithCovariance"; };
jjzak 6:3c54bc7badd4 65 const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; };
jjzak 6:3c54bc7badd4 66
jjzak 6:3c54bc7badd4 67 };
jjzak 6:3c54bc7badd4 68
jjzak 6:3c54bc7badd4 69 }
jjzak 6:3c54bc7badd4 70 #endif