modify for Hydro version
Fork of rosserial_mbed_lib by
geometry_msgs/TwistWithCovariance.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 1:ff0ec969dad1:
#ifndef ros_geometry_msgs_TwistWithCovariance_h #define ros_geometry_msgs_TwistWithCovariance_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" #include "geometry_msgs/Twist.h" namespace geometry_msgs { class TwistWithCovariance : public ros::Msg { public: geometry_msgs::Twist twist; float covariance[36]; virtual int serialize(unsigned char *outbuffer) { int offset = 0; offset += this->twist.serialize(outbuffer + offset); unsigned char * covariance_val = (unsigned char *) this->covariance; for( unsigned char i = 0; i < 36; i++){ long * val_covariancei = (long *) &(this->covariance[i]); long exp_covariancei = (((*val_covariancei)>>23)&255); if(exp_covariancei != 0) exp_covariancei += 1023-127; long sig_covariancei = *val_covariancei; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff; *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff; *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff; *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F); *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F; if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->twist.deserialize(inbuffer + offset); unsigned char * covariance_val = (unsigned char *) this->covariance; for( unsigned char i = 0; i < 36; i++){ unsigned long * val_covariancei = (unsigned long*) &(this->covariance[i]); offset += 3; *val_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); *val_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; *val_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; *val_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; unsigned long exp_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; exp_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_covariancei !=0) *val_covariancei |= ((exp_covariancei)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i]; } return offset; } virtual const char * getType(){ return "geometry_msgs/TwistWithCovariance"; }; }; } #endif