Diff: sensor_msgs/FluidPressure.h

Revision:

5:8cd48977ec68

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/FluidPressure.h	Sat Oct 26 15:38:35 2013 +0000
@@ -0,0 +1,90 @@
+#ifndef _ROS_sensor_msgs_FluidPressure_h
+#define _ROS_sensor_msgs_FluidPressure_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class FluidPressure : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      float fluid_pressure;
+      float variance;
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      int32_t * val_fluid_pressure = (int32_t *) &(this->fluid_pressure);
+      int32_t exp_fluid_pressure = (((*val_fluid_pressure)>>23)&255);
+      if(exp_fluid_pressure != 0)
+        exp_fluid_pressure += 1023-127;
+      int32_t sig_fluid_pressure = *val_fluid_pressure;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_fluid_pressure<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_fluid_pressure>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_fluid_pressure>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_fluid_pressure<<4) & 0xF0) | ((sig_fluid_pressure>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_fluid_pressure>>4) & 0x7F;
+      if(this->fluid_pressure < 0) *(outbuffer + offset -1) |= 0x80;
+      int32_t * val_variance = (int32_t *) &(this->variance);
+      int32_t exp_variance = (((*val_variance)>>23)&255);
+      if(exp_variance != 0)
+        exp_variance += 1023-127;
+      int32_t sig_variance = *val_variance;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_variance<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_variance>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_variance>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_variance<<4) & 0xF0) | ((sig_variance>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_variance>>4) & 0x7F;
+      if(this->variance < 0) *(outbuffer + offset -1) |= 0x80;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t * val_fluid_pressure = (uint32_t*) &(this->fluid_pressure);
+      offset += 3;
+      *val_fluid_pressure = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_fluid_pressure |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_fluid_pressure |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_fluid_pressure |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_fluid_pressure = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_fluid_pressure |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_fluid_pressure !=0)
+        *val_fluid_pressure |= ((exp_fluid_pressure)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->fluid_pressure = -this->fluid_pressure;
+      uint32_t * val_variance = (uint32_t*) &(this->variance);
+      offset += 3;
+      *val_variance = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_variance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_variance |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_variance |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
+      uint32_t exp_variance = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_variance |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_variance !=0)
+        *val_variance |= ((exp_variance)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->variance = -this->variance;
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/FluidPressure"; };
+    const char * getMD5(){ return "804dc5cea1c5306d6a2eb80b9833befe"; };
+
+  };
+
+}
+#endif