Diff: geometry_msgs/TwistWithCovariance.h

Revision:

6:3c54bc7badd4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/TwistWithCovariance.h	Sat Oct 26 15:39:01 2013 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_geometry_msgs_TwistWithCovariance_h
+#define _ROS_geometry_msgs_TwistWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Twist.h"
+
+namespace geometry_msgs
+{
+
+  class TwistWithCovariance : public ros::Msg
+  {
+    public:
+      geometry_msgs::Twist twist;
+      float covariance[36];
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->twist.serialize(outbuffer + offset);
+      unsigned char * covariance_val = (unsigned char *) this->covariance;
+      for( uint8_t i = 0; i < 36; i++){
+      int32_t * val_covariancei = (int32_t *) &(this->covariance[i]);
+      int32_t exp_covariancei = (((*val_covariancei)>>23)&255);
+      if(exp_covariancei != 0)
+        exp_covariancei += 1023-127;
+      int32_t sig_covariancei = *val_covariancei;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F;
+      if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->twist.deserialize(inbuffer + offset);
+      uint8_t * covariance_val = (uint8_t*) this->covariance;
+      for( uint8_t i = 0; i < 36; i++){
+      uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);
+      offset += 3;
+      *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_covariancei !=0)
+        *val_covariancei |= ((exp_covariancei)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TwistWithCovariance"; };
+    const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; };
+
+  };
+
+}
+#endif