Diff: sensor_msgs/CameraInfo.h

Revision:

3:1cf99502f396

Parent:

0:77afd7560544

--- a/sensor_msgs/CameraInfo.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/sensor_msgs/CameraInfo.h	Sat Nov 12 23:54:45 2011 +0000
@@ -1,10 +1,10 @@
-#ifndef ros_CameraInfo_h
-#define ros_CameraInfo_h
+#ifndef _ROS_sensor_msgs_CameraInfo_h
+#define _ROS_sensor_msgs_CameraInfo_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/RegionOfInterest.h"
 
@@ -15,44 +15,34 @@
   {
     public:
       std_msgs::Header header;
-      unsigned long height;
-      unsigned long width;
+      uint32_t height;
+      uint32_t width;
       char * distortion_model;
-      unsigned char D_length;
+      uint8_t D_length;
       float st_D;
       float * D;
       float K[9];
       float R[9];
       float P[12];
-      unsigned long binning_x;
-      unsigned long binning_y;
+      uint32_t binning_x;
+      uint32_t binning_y;
       sensor_msgs::RegionOfInterest roi;
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
       offset += this->header.serialize(outbuffer + offset);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_height;
-      u_height.real = this->height;
-      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
       offset += sizeof(this->height);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_width;
-      u_width.real = this->width;
-      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
       offset += sizeof(this->width);
-      long * length_distortion_model = (long *)(outbuffer + offset);
+      uint32_t * length_distortion_model = (uint32_t *)(outbuffer + offset);
       *length_distortion_model = strlen( (const char*) this->distortion_model);
       offset += 4;
       memcpy(outbuffer + offset, this->distortion_model, *length_distortion_model);
@@ -61,12 +51,12 @@
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
-      for( unsigned char i = 0; i < D_length; i++){
-      long * val_Di = (long *) &(this->D[i]);
-      long exp_Di = (((*val_Di)>>23)&255);
+      for( uint8_t i = 0; i < D_length; i++){
+      int32_t * val_Di = (long *) &(this->D[i]);
+      int32_t exp_Di = (((*val_Di)>>23)&255);
       if(exp_Di != 0)
         exp_Di += 1023-127;
-      long sig_Di = *val_Di;
+      int32_t sig_Di = *val_Di;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -78,12 +68,12 @@
       if(this->D[i] < 0) *(outbuffer + offset -1) |= 0x80;
       }
       unsigned char * K_val = (unsigned char *) this->K;
-      for( unsigned char i = 0; i < 9; i++){
-      long * val_Ki = (long *) &(this->K[i]);
-      long exp_Ki = (((*val_Ki)>>23)&255);
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_Ki = (long *) &(this->K[i]);
+      int32_t exp_Ki = (((*val_Ki)>>23)&255);
       if(exp_Ki != 0)
         exp_Ki += 1023-127;
-      long sig_Ki = *val_Ki;
+      int32_t sig_Ki = *val_Ki;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -95,12 +85,12 @@
       if(this->K[i] < 0) *(outbuffer + offset -1) |= 0x80;
       }
       unsigned char * R_val = (unsigned char *) this->R;
-      for( unsigned char i = 0; i < 9; i++){
-      long * val_Ri = (long *) &(this->R[i]);
-      long exp_Ri = (((*val_Ri)>>23)&255);
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_Ri = (long *) &(this->R[i]);
+      int32_t exp_Ri = (((*val_Ri)>>23)&255);
       if(exp_Ri != 0)
         exp_Ri += 1023-127;
-      long sig_Ri = *val_Ri;
+      int32_t sig_Ri = *val_Ri;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -112,12 +102,12 @@
       if(this->R[i] < 0) *(outbuffer + offset -1) |= 0x80;
       }
       unsigned char * P_val = (unsigned char *) this->P;
-      for( unsigned char i = 0; i < 12; i++){
-      long * val_Pi = (long *) &(this->P[i]);
-      long exp_Pi = (((*val_Pi)>>23)&255);
+      for( uint8_t i = 0; i < 12; i++){
+      int32_t * val_Pi = (long *) &(this->P[i]);
+      int32_t exp_Pi = (((*val_Pi)>>23)&255);
       if(exp_Pi != 0)
         exp_Pi += 1023-127;
-      long sig_Pi = *val_Pi;
+      int32_t sig_Pi = *val_Pi;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -128,25 +118,15 @@
       *(outbuffer + offset++) = (exp_Pi>>4) & 0x7F;
       if(this->P[i] < 0) *(outbuffer + offset -1) |= 0x80;
       }
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_binning_x;
-      u_binning_x.real = this->binning_x;
-      *(outbuffer + offset + 0) = (u_binning_x.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_binning_x.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_binning_x.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_binning_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
       offset += sizeof(this->binning_x);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_binning_y;
-      u_binning_y.real = this->binning_y;
-      *(outbuffer + offset + 0) = (u_binning_y.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_binning_y.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_binning_y.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_binning_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
       offset += sizeof(this->binning_y);
       offset += this->roi.serialize(outbuffer + offset);
       return offset;
@@ -156,124 +136,101 @@
     {
       int offset = 0;
       offset += this->header.deserialize(inbuffer + offset);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_height;
-      u_height.base = 0;
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->height = u_height.real;
+      this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->height);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_width;
-      u_width.base = 0;
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->width = u_width.real;
+      this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->width);
       uint32_t length_distortion_model = *(uint32_t *)(inbuffer + offset);
       offset += 4;
       for(unsigned int k= offset; k< offset+length_distortion_model; ++k){
           inbuffer[k-1]=inbuffer[k];
-           }
+      }
       inbuffer[offset+length_distortion_model-1]=0;
       this->distortion_model = (char *)(inbuffer + offset-1);
       offset += length_distortion_model;
-      unsigned char D_lengthT = *(inbuffer + offset++);
+      uint8_t D_lengthT = *(inbuffer + offset++);
       if(D_lengthT > D_length)
         this->D = (float*)realloc(this->D, D_lengthT * sizeof(float));
       offset += 3;
       D_length = D_lengthT;
-      for( unsigned char i = 0; i < D_length; i++){
-      unsigned long * val_st_D = (unsigned long*) &(this->st_D);
+      for( uint8_t i = 0; i < D_length; i++){
+      uint32_t * val_st_D = (uint32_t*) &(this->st_D);
       offset += 3;
-      *val_st_D = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_st_D |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_st_D |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_st_D |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_st_D = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_st_D |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_st_D = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_st_D |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_st_D = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_st_D |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_st_D !=0)
         *val_st_D |= ((exp_st_D)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_D = -this->st_D;
         memcpy( &(this->D[i]), &(this->st_D), sizeof(float));
       }
-      unsigned char * K_val = (unsigned char *) this->K;
-      for( unsigned char i = 0; i < 9; i++){
-      unsigned long * val_Ki = (unsigned long*) &(this->K[i]);
+      uint8_t * K_val = (uint8_t*) this->K;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_Ki = (uint32_t*) &(this->K[i]);
       offset += 3;
-      *val_Ki = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_Ki |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_Ki |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_Ki |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_Ki = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_Ki |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_Ki = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Ki |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_Ki = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Ki |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_Ki !=0)
         *val_Ki |= ((exp_Ki)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->K[i] = -this->K[i];
       }
-      unsigned char * R_val = (unsigned char *) this->R;
-      for( unsigned char i = 0; i < 9; i++){
-      unsigned long * val_Ri = (unsigned long*) &(this->R[i]);
+      uint8_t * R_val = (uint8_t*) this->R;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_Ri = (uint32_t*) &(this->R[i]);
       offset += 3;
-      *val_Ri = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_Ri |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_Ri |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_Ri |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_Ri = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_Ri |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_Ri = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Ri |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_Ri = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Ri |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_Ri !=0)
         *val_Ri |= ((exp_Ri)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->R[i] = -this->R[i];
       }
-      unsigned char * P_val = (unsigned char *) this->P;
-      for( unsigned char i = 0; i < 12; i++){
-      unsigned long * val_Pi = (unsigned long*) &(this->P[i]);
+      uint8_t * P_val = (uint8_t*) this->P;
+      for( uint8_t i = 0; i < 12; i++){
+      uint32_t * val_Pi = (uint32_t*) &(this->P[i]);
       offset += 3;
-      *val_Pi = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_Pi |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_Pi |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_Pi |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_Pi = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_Pi |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_Pi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_Pi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_Pi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_Pi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_Pi !=0)
         *val_Pi |= ((exp_Pi)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->P[i] = -this->P[i];
       }
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_binning_x;
-      u_binning_x.base = 0;
-      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_binning_x.base |= ((typeof(u_binning_x.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->binning_x = u_binning_x.real;
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->binning_x);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_binning_y;
-      u_binning_y.base = 0;
-      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_binning_y.base |= ((typeof(u_binning_y.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->binning_y = u_binning_y.real;
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->binning_y);
       offset += this->roi.deserialize(inbuffer + offset);
      return offset;
     }
 
-   virtual const char * getType(){ return "sensor_msgs/CameraInfo"; };
+    virtual const char * getType(){ return "sensor_msgs/CameraInfo"; };
+    virtual const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; };
 
   };