modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: sensor_msgs/MagneticField.h
- Revision:
- 5:8cd48977ec68
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/MagneticField.h Sat Oct 26 15:38:35 2013 +0000 @@ -0,0 +1,74 @@ +#ifndef _ROS_sensor_msgs_MagneticField_h +#define _ROS_sensor_msgs_MagneticField_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/Vector3.h" + +namespace sensor_msgs +{ + + class MagneticField : public ros::Msg + { + public: + std_msgs::Header header; + geometry_msgs::Vector3 magnetic_field; + float magnetic_field_covariance[9]; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + offset += this->magnetic_field.serialize(outbuffer + offset); + unsigned char * magnetic_field_covariance_val = (unsigned char *) this->magnetic_field_covariance; + for( uint8_t i = 0; i < 9; i++){ + int32_t * val_magnetic_field_covariancei = (int32_t *) &(this->magnetic_field_covariance[i]); + int32_t exp_magnetic_field_covariancei = (((*val_magnetic_field_covariancei)>>23)&255); + if(exp_magnetic_field_covariancei != 0) + exp_magnetic_field_covariancei += 1023-127; + int32_t sig_magnetic_field_covariancei = *val_magnetic_field_covariancei; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = (sig_magnetic_field_covariancei<<5) & 0xff; + *(outbuffer + offset++) = (sig_magnetic_field_covariancei>>3) & 0xff; + *(outbuffer + offset++) = (sig_magnetic_field_covariancei>>11) & 0xff; + *(outbuffer + offset++) = ((exp_magnetic_field_covariancei<<4) & 0xF0) | ((sig_magnetic_field_covariancei>>19)&0x0F); + *(outbuffer + offset++) = (exp_magnetic_field_covariancei>>4) & 0x7F; + if(this->magnetic_field_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + offset += this->magnetic_field.deserialize(inbuffer + offset); + uint8_t * magnetic_field_covariance_val = (uint8_t*) this->magnetic_field_covariance; + for( uint8_t i = 0; i < 9; i++){ + uint32_t * val_magnetic_field_covariancei = (uint32_t*) &(this->magnetic_field_covariance[i]); + offset += 3; + *val_magnetic_field_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_magnetic_field_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; + if(exp_magnetic_field_covariancei !=0) + *val_magnetic_field_covariancei |= ((exp_magnetic_field_covariancei)-1023+127)<<23; + if( ((*(inbuffer+offset++)) & 0x80) > 0) this->magnetic_field_covariance[i] = -this->magnetic_field_covariance[i]; + } + return offset; + } + + const char * getType(){ return "sensor_msgs/MagneticField"; }; + const char * getMD5(){ return "2f3b0b43eed0c9501de0fa3ff89a45aa"; }; + + }; + +} +#endif