Diff: sensor_msgs/Imu.h

Revision:

3:1cf99502f396

Parent:

0:77afd7560544

--- a/sensor_msgs/Imu.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/sensor_msgs/Imu.h	Sat Nov 12 23:54:45 2011 +0000
@@ -1,10 +1,10 @@
-#ifndef ros_Imu_h
-#define ros_Imu_h
+#ifndef _ROS_sensor_msgs_Imu_h
+#define _ROS_sensor_msgs_Imu_h
 
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
-#include "../ros/msg.h"
+#include "ros/msg.h"
 #include "std_msgs/Header.h"
 #include "geometry_msgs/Quaternion.h"
 #include "geometry_msgs/Vector3.h"
@@ -23,18 +23,18 @@
       geometry_msgs::Vector3 linear_acceleration;
       float linear_acceleration_covariance[9];
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
       offset += this->header.serialize(outbuffer + offset);
       offset += this->orientation.serialize(outbuffer + offset);
       unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      long * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]);
-      long exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]);
+      int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);
       if(exp_orientation_covariancei != 0)
         exp_orientation_covariancei += 1023-127;
-      long sig_orientation_covariancei = *val_orientation_covariancei;
+      int32_t sig_orientation_covariancei = *val_orientation_covariancei;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -47,12 +47,12 @@
       }
       offset += this->angular_velocity.serialize(outbuffer + offset);
       unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      long * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]);
-      long exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]);
+      int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);
       if(exp_angular_velocity_covariancei != 0)
         exp_angular_velocity_covariancei += 1023-127;
-      long sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;
+      int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -65,12 +65,12 @@
       }
       offset += this->linear_acceleration.serialize(outbuffer + offset);
       unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      long * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]);
-      long exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);
+      for( uint8_t i = 0; i < 9; i++){
+      int32_t * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]);
+      int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);
       if(exp_linear_acceleration_covariancei != 0)
         exp_linear_acceleration_covariancei += 1023-127;
-      long sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;
+      int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
@@ -89,46 +89,46 @@
       int offset = 0;
       offset += this->header.deserialize(inbuffer + offset);
       offset += this->orientation.deserialize(inbuffer + offset);
-      unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      unsigned long * val_orientation_covariancei = (unsigned long*) &(this->orientation_covariance[i]);
+      uint8_t * orientation_covariance_val = (uint8_t*) this->orientation_covariance;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]);
       offset += 3;
-      *val_orientation_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_orientation_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_orientation_covariancei !=0)
         *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i];
       }
       offset += this->angular_velocity.deserialize(inbuffer + offset);
-      unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      unsigned long * val_angular_velocity_covariancei = (unsigned long*) &(this->angular_velocity_covariance[i]);
+      uint8_t * angular_velocity_covariance_val = (uint8_t*) this->angular_velocity_covariance;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]);
       offset += 3;
-      *val_angular_velocity_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_angular_velocity_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_angular_velocity_covariancei !=0)
         *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i];
       }
       offset += this->linear_acceleration.deserialize(inbuffer + offset);
-      unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;
-      for( unsigned char i = 0; i < 9; i++){
-      unsigned long * val_linear_acceleration_covariancei = (unsigned long*) &(this->linear_acceleration_covariance[i]);
+      uint8_t * linear_acceleration_covariance_val = (uint8_t*) this->linear_acceleration_covariance;
+      for( uint8_t i = 0; i < 9; i++){
+      uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]);
       offset += 3;
-      *val_linear_acceleration_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
-      unsigned long exp_linear_acceleration_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
       if(exp_linear_acceleration_covariancei !=0)
         *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23;
       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i];
@@ -136,7 +136,8 @@
      return offset;
     }
 
-   virtual const char * getType(){ return "sensor_msgs/Imu"; };
+    virtual const char * getType(){ return "sensor_msgs/Imu"; };
+    virtual const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
 
   };