modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: geometry_msgs/Vector3.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/geometry_msgs/Vector3.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,112 +0,0 @@ -#ifndef _ROS_geometry_msgs_Vector3_h -#define _ROS_geometry_msgs_Vector3_h - -#include <stdint.h> -#include <string.h> -#include <stdlib.h> -#include "ros/msg.h" - -namespace geometry_msgs -{ - - class Vector3 : public ros::Msg - { - public: - float x; - float y; - float z; - - virtual int serialize(unsigned char *outbuffer) const - { - int offset = 0; - int32_t * val_x = (long *) &(this->x); - int32_t exp_x = (((*val_x)>>23)&255); - if(exp_x != 0) - exp_x += 1023-127; - int32_t sig_x = *val_x; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_x<<5) & 0xff; - *(outbuffer + offset++) = (sig_x>>3) & 0xff; - *(outbuffer + offset++) = (sig_x>>11) & 0xff; - *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F); - *(outbuffer + offset++) = (exp_x>>4) & 0x7F; - if(this->x < 0) *(outbuffer + offset -1) |= 0x80; - int32_t * val_y = (long *) &(this->y); - int32_t exp_y = (((*val_y)>>23)&255); - if(exp_y != 0) - exp_y += 1023-127; - int32_t sig_y = *val_y; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_y<<5) & 0xff; - *(outbuffer + offset++) = (sig_y>>3) & 0xff; - *(outbuffer + offset++) = (sig_y>>11) & 0xff; - *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F); - *(outbuffer + offset++) = (exp_y>>4) & 0x7F; - if(this->y < 0) *(outbuffer + offset -1) |= 0x80; - int32_t * val_z = (long *) &(this->z); - int32_t exp_z = (((*val_z)>>23)&255); - if(exp_z != 0) - exp_z += 1023-127; - int32_t sig_z = *val_z; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_z<<5) & 0xff; - *(outbuffer + offset++) = (sig_z>>3) & 0xff; - *(outbuffer + offset++) = (sig_z>>11) & 0xff; - *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F); - *(outbuffer + offset++) = (exp_z>>4) & 0x7F; - if(this->z < 0) *(outbuffer + offset -1) |= 0x80; - return offset; - } - - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - uint32_t * val_x = (uint32_t*) &(this->x); - offset += 3; - *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_x !=0) - *val_x |= ((exp_x)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x; - uint32_t * val_y = (uint32_t*) &(this->y); - offset += 3; - *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_y !=0) - *val_y |= ((exp_y)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y; - uint32_t * val_z = (uint32_t*) &(this->z); - offset += 3; - *val_z = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_z |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_z = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_z |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_z !=0) - *val_z |= ((exp_z)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z; - return offset; - } - - virtual const char * getType(){ return "geometry_msgs/Vector3"; }; - virtual const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; }; - - }; - -} -#endif \ No newline at end of file