modify for Hydro version
Fork of rosserial_mbed_lib by
geometry_msgs/TwistWithCovariance.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 6:3c54bc7badd4 | 1 | #ifndef _ROS_geometry_msgs_TwistWithCovariance_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_geometry_msgs_TwistWithCovariance_h |
jjzak | 6:3c54bc7badd4 | 3 | |
jjzak | 6:3c54bc7badd4 | 4 | #include <stdint.h> |
jjzak | 6:3c54bc7badd4 | 5 | #include <string.h> |
jjzak | 6:3c54bc7badd4 | 6 | #include <stdlib.h> |
jjzak | 6:3c54bc7badd4 | 7 | #include "ros/msg.h" |
jjzak | 6:3c54bc7badd4 | 8 | #include "geometry_msgs/Twist.h" |
jjzak | 6:3c54bc7badd4 | 9 | |
jjzak | 6:3c54bc7badd4 | 10 | namespace geometry_msgs |
jjzak | 6:3c54bc7badd4 | 11 | { |
jjzak | 6:3c54bc7badd4 | 12 | |
jjzak | 6:3c54bc7badd4 | 13 | class TwistWithCovariance : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 14 | { |
jjzak | 6:3c54bc7badd4 | 15 | public: |
jjzak | 6:3c54bc7badd4 | 16 | geometry_msgs::Twist twist; |
jjzak | 6:3c54bc7badd4 | 17 | float covariance[36]; |
jjzak | 6:3c54bc7badd4 | 18 | |
jjzak | 6:3c54bc7badd4 | 19 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 20 | { |
jjzak | 6:3c54bc7badd4 | 21 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 22 | offset += this->twist.serialize(outbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 23 | unsigned char * covariance_val = (unsigned char *) this->covariance; |
jjzak | 6:3c54bc7badd4 | 24 | for( uint8_t i = 0; i < 36; i++){ |
jjzak | 6:3c54bc7badd4 | 25 | int32_t * val_covariancei = (int32_t *) &(this->covariance[i]); |
jjzak | 6:3c54bc7badd4 | 26 | int32_t exp_covariancei = (((*val_covariancei)>>23)&255); |
jjzak | 6:3c54bc7badd4 | 27 | if(exp_covariancei != 0) |
jjzak | 6:3c54bc7badd4 | 28 | exp_covariancei += 1023-127; |
jjzak | 6:3c54bc7badd4 | 29 | int32_t sig_covariancei = *val_covariancei; |
jjzak | 6:3c54bc7badd4 | 30 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 31 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 32 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 33 | *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff; |
jjzak | 6:3c54bc7badd4 | 34 | *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff; |
jjzak | 6:3c54bc7badd4 | 35 | *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff; |
jjzak | 6:3c54bc7badd4 | 36 | *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F); |
jjzak | 6:3c54bc7badd4 | 37 | *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F; |
jjzak | 6:3c54bc7badd4 | 38 | if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
jjzak | 6:3c54bc7badd4 | 39 | } |
jjzak | 6:3c54bc7badd4 | 40 | return offset; |
jjzak | 6:3c54bc7badd4 | 41 | } |
jjzak | 6:3c54bc7badd4 | 42 | |
jjzak | 6:3c54bc7badd4 | 43 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 44 | { |
jjzak | 6:3c54bc7badd4 | 45 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 46 | offset += this->twist.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 47 | uint8_t * covariance_val = (uint8_t*) this->covariance; |
jjzak | 6:3c54bc7badd4 | 48 | for( uint8_t i = 0; i < 36; i++){ |
jjzak | 6:3c54bc7badd4 | 49 | uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]); |
jjzak | 6:3c54bc7badd4 | 50 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 51 | *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
jjzak | 6:3c54bc7badd4 | 52 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
jjzak | 6:3c54bc7badd4 | 53 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
jjzak | 6:3c54bc7badd4 | 54 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
jjzak | 6:3c54bc7badd4 | 55 | uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
jjzak | 6:3c54bc7badd4 | 56 | exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
jjzak | 6:3c54bc7badd4 | 57 | if(exp_covariancei !=0) |
jjzak | 6:3c54bc7badd4 | 58 | *val_covariancei |= ((exp_covariancei)-1023+127)<<23; |
jjzak | 6:3c54bc7badd4 | 59 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i]; |
jjzak | 6:3c54bc7badd4 | 60 | } |
jjzak | 6:3c54bc7badd4 | 61 | return offset; |
jjzak | 6:3c54bc7badd4 | 62 | } |
jjzak | 6:3c54bc7badd4 | 63 | |
jjzak | 6:3c54bc7badd4 | 64 | const char * getType(){ return "geometry_msgs/TwistWithCovariance"; }; |
jjzak | 6:3c54bc7badd4 | 65 | const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; }; |
jjzak | 6:3c54bc7badd4 | 66 | |
jjzak | 6:3c54bc7badd4 | 67 | }; |
jjzak | 6:3c54bc7badd4 | 68 | |
jjzak | 6:3c54bc7badd4 | 69 | } |
jjzak | 6:3c54bc7badd4 | 70 | #endif |