modify for Hydro version
Fork of rosserial_mbed_lib by
geometry_msgs/Pose2D.h
- Committer:
- nucho
- Date:
- 2011-11-12
- Revision:
- 3:1cf99502f396
- Parent:
- 1:ff0ec969dad1
File content as of revision 3:1cf99502f396:
#ifndef _ROS_geometry_msgs_Pose2D_h #define _ROS_geometry_msgs_Pose2D_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace geometry_msgs { class Pose2D : public ros::Msg { public: float x; float y; float theta; 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_theta = (long *) &(this->theta); int32_t exp_theta = (((*val_theta)>>23)&255); if(exp_theta != 0) exp_theta += 1023-127; int32_t sig_theta = *val_theta; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_theta<<5) & 0xff; *(outbuffer + offset++) = (sig_theta>>3) & 0xff; *(outbuffer + offset++) = (sig_theta>>11) & 0xff; *(outbuffer + offset++) = ((exp_theta<<4) & 0xF0) | ((sig_theta>>19)&0x0F); *(outbuffer + offset++) = (exp_theta>>4) & 0x7F; if(this->theta < 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_theta = (uint32_t*) &(this->theta); offset += 3; *val_theta = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; *val_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; uint32_t exp_theta = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; exp_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_theta !=0) *val_theta |= ((exp_theta)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta; return offset; } virtual const char * getType(){ return "geometry_msgs/Pose2D"; }; virtual const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; }; }; } #endif