modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: geometry_msgs/PoseWithCovariance.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/geometry_msgs/PoseWithCovariance.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,70 +0,0 @@ -#ifndef _ROS_geometry_msgs_PoseWithCovariance_h -#define _ROS_geometry_msgs_PoseWithCovariance_h - -#include <stdint.h> -#include <string.h> -#include <stdlib.h> -#include "ros/msg.h" -#include "geometry_msgs/Pose.h" - -namespace geometry_msgs -{ - - class PoseWithCovariance : public ros::Msg - { - public: - geometry_msgs::Pose pose; - float covariance[36]; - - virtual int serialize(unsigned char *outbuffer) const - { - int offset = 0; - offset += this->pose.serialize(outbuffer + offset); - unsigned char * covariance_val = (unsigned char *) this->covariance; - for( uint8_t i = 0; i < 36; i++){ - int32_t * val_covariancei = (long *) &(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->pose.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; - } - - virtual const char * getType(){ return "geometry_msgs/PoseWithCovariance"; }; - virtual const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; }; - - }; - -} -#endif \ No newline at end of file