modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: geometry_msgs/Point.h
- Revision:
- 3:1cf99502f396
- Parent:
- 1:ff0ec969dad1
diff -r bb6bb835fde4 -r 1cf99502f396 geometry_msgs/Point.h --- a/geometry_msgs/Point.h Sun Oct 16 09:35:11 2011 +0000 +++ b/geometry_msgs/Point.h Sat Nov 12 23:54:45 2011 +0000 @@ -1,109 +1,112 @@ -#ifndef ros_geometry_msgs_Point_h -#define ros_geometry_msgs_Point_h +#ifndef _ROS_geometry_msgs_Point_h +#define _ROS_geometry_msgs_Point_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" -namespace geometry_msgs { +namespace geometry_msgs +{ -class Point : public ros::Msg { -public: - float x; - float y; - float z; + class Point : public ros::Msg + { + public: + float x; + float y; + float z; - virtual int serialize(unsigned char *outbuffer) { - int offset = 0; - long * val_x = (long *) &(this->x); - long exp_x = (((*val_x)>>23)&255); - if (exp_x != 0) - exp_x += 1023-127; - long 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; - long * val_y = (long *) &(this->y); - long exp_y = (((*val_y)>>23)&255); - if (exp_y != 0) - exp_y += 1023-127; - long 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; - long * val_z = (long *) &(this->z); - long exp_z = (((*val_z)>>23)&255); - if (exp_z != 0) - exp_z += 1023-127; - long sig_z = *val_z; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_z<<5) & 0xff; - *(outbuffer + offset++) = (sig_z>>3) & 0xff; - *(outbuffer + offset++) = (sig_z>>11) & 0xff; - *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F); - *(outbuffer + offset++) = (exp_z>>4) & 0x7F; - if (this->z < 0) *(outbuffer + offset -1) |= 0x80; - return offset; + 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_z = (long *) &(this->z); + int32_t exp_z = (((*val_z)>>23)&255); + if(exp_z != 0) + exp_z += 1023-127; + int32_t sig_z = *val_z; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = (sig_z<<5) & 0xff; + *(outbuffer + offset++) = (sig_z>>3) & 0xff; + *(outbuffer + offset++) = (sig_z>>11) & 0xff; + *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F); + *(outbuffer + offset++) = (exp_z>>4) & 0x7F; + if(this->z < 0) *(outbuffer + offset -1) |= 0x80; + return offset; } - virtual int deserialize(unsigned char *inbuffer) { - int offset = 0; - unsigned long * val_x = (unsigned long*) &(this->x); - offset += 3; - *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; - if (exp_x !=0) - *val_x |= ((exp_x)-1023+127)<<23; - if ( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x; - unsigned long * val_y = (unsigned long*) &(this->y); - offset += 3; - *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; - if (exp_y !=0) - *val_y |= ((exp_y)-1023+127)<<23; - if ( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y; - unsigned long * val_z = (unsigned long*) &(this->z); - offset += 3; - *val_z = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_z |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_z = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_z |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; - if (exp_z !=0) - *val_z |= ((exp_z)-1023+127)<<23; - if ( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z; - 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_z = (uint32_t*) &(this->z); + offset += 3; + *val_z = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_z |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_z = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_z |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; + if(exp_z !=0) + *val_z |= ((exp_z)-1023+127)<<23; + if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z; + return offset; } - virtual const char * getType() { - return "geometry_msgs/Point"; - }; + virtual const char * getType(){ return "geometry_msgs/Point"; }; + virtual const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; }; -}; + }; } #endif \ No newline at end of file