modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/MagneticField.h
- Committer:
- jjzak
- Date:
- 2013-10-26
- Revision:
- 5:8cd48977ec68
File content as of revision 5:8cd48977ec68:
#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