NavSatFix.h

00001 #ifndef _ROS_sensor_msgs_NavSatFix_h
00002 #define _ROS_sensor_msgs_NavSatFix_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "sensor_msgs/NavSatStatus.h"
00010 
00011 namespace sensor_msgs
00012 {
00013 
00014   class NavSatFix : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       typedef sensor_msgs::NavSatStatus _status_type;
00020       _status_type status;
00021       typedef double _latitude_type;
00022       _latitude_type latitude;
00023       typedef double _longitude_type;
00024       _longitude_type longitude;
00025       typedef double _altitude_type;
00026       _altitude_type altitude;
00027       double position_covariance[9];
00028       typedef uint8_t _position_covariance_type_type;
00029       _position_covariance_type_type position_covariance_type;
00030       enum { COVARIANCE_TYPE_UNKNOWN =  0 };
00031       enum { COVARIANCE_TYPE_APPROXIMATED =  1 };
00032       enum { COVARIANCE_TYPE_DIAGONAL_KNOWN =  2 };
00033       enum { COVARIANCE_TYPE_KNOWN =  3 };
00034 
00035     NavSatFix():
00036       header(),
00037       status(),
00038       latitude(0),
00039       longitude(0),
00040       altitude(0),
00041       position_covariance(),
00042       position_covariance_type(0)
00043     {
00044     }
00045 
00046     virtual int serialize(unsigned char *outbuffer) const
00047     {
00048       int offset = 0;
00049       offset += this->header.serialize(outbuffer + offset);
00050       offset += this->status.serialize(outbuffer + offset);
00051       union {
00052         double real;
00053         uint64_t base;
00054       } u_latitude;
00055       u_latitude.real = this->latitude;
00056       *(outbuffer + offset + 0) = (u_latitude.base >> (8 * 0)) & 0xFF;
00057       *(outbuffer + offset + 1) = (u_latitude.base >> (8 * 1)) & 0xFF;
00058       *(outbuffer + offset + 2) = (u_latitude.base >> (8 * 2)) & 0xFF;
00059       *(outbuffer + offset + 3) = (u_latitude.base >> (8 * 3)) & 0xFF;
00060       *(outbuffer + offset + 4) = (u_latitude.base >> (8 * 4)) & 0xFF;
00061       *(outbuffer + offset + 5) = (u_latitude.base >> (8 * 5)) & 0xFF;
00062       *(outbuffer + offset + 6) = (u_latitude.base >> (8 * 6)) & 0xFF;
00063       *(outbuffer + offset + 7) = (u_latitude.base >> (8 * 7)) & 0xFF;
00064       offset += sizeof(this->latitude);
00065       union {
00066         double real;
00067         uint64_t base;
00068       } u_longitude;
00069       u_longitude.real = this->longitude;
00070       *(outbuffer + offset + 0) = (u_longitude.base >> (8 * 0)) & 0xFF;
00071       *(outbuffer + offset + 1) = (u_longitude.base >> (8 * 1)) & 0xFF;
00072       *(outbuffer + offset + 2) = (u_longitude.base >> (8 * 2)) & 0xFF;
00073       *(outbuffer + offset + 3) = (u_longitude.base >> (8 * 3)) & 0xFF;
00074       *(outbuffer + offset + 4) = (u_longitude.base >> (8 * 4)) & 0xFF;
00075       *(outbuffer + offset + 5) = (u_longitude.base >> (8 * 5)) & 0xFF;
00076       *(outbuffer + offset + 6) = (u_longitude.base >> (8 * 6)) & 0xFF;
00077       *(outbuffer + offset + 7) = (u_longitude.base >> (8 * 7)) & 0xFF;
00078       offset += sizeof(this->longitude);
00079       union {
00080         double real;
00081         uint64_t base;
00082       } u_altitude;
00083       u_altitude.real = this->altitude;
00084       *(outbuffer + offset + 0) = (u_altitude.base >> (8 * 0)) & 0xFF;
00085       *(outbuffer + offset + 1) = (u_altitude.base >> (8 * 1)) & 0xFF;
00086       *(outbuffer + offset + 2) = (u_altitude.base >> (8 * 2)) & 0xFF;
00087       *(outbuffer + offset + 3) = (u_altitude.base >> (8 * 3)) & 0xFF;
00088       *(outbuffer + offset + 4) = (u_altitude.base >> (8 * 4)) & 0xFF;
00089       *(outbuffer + offset + 5) = (u_altitude.base >> (8 * 5)) & 0xFF;
00090       *(outbuffer + offset + 6) = (u_altitude.base >> (8 * 6)) & 0xFF;
00091       *(outbuffer + offset + 7) = (u_altitude.base >> (8 * 7)) & 0xFF;
00092       offset += sizeof(this->altitude);
00093       for( uint32_t i = 0; i < 9; i++){
00094       union {
00095         double real;
00096         uint64_t base;
00097       } u_position_covariancei;
00098       u_position_covariancei.real = this->position_covariance[i];
00099       *(outbuffer + offset + 0) = (u_position_covariancei.base >> (8 * 0)) & 0xFF;
00100       *(outbuffer + offset + 1) = (u_position_covariancei.base >> (8 * 1)) & 0xFF;
00101       *(outbuffer + offset + 2) = (u_position_covariancei.base >> (8 * 2)) & 0xFF;
00102       *(outbuffer + offset + 3) = (u_position_covariancei.base >> (8 * 3)) & 0xFF;
00103       *(outbuffer + offset + 4) = (u_position_covariancei.base >> (8 * 4)) & 0xFF;
00104       *(outbuffer + offset + 5) = (u_position_covariancei.base >> (8 * 5)) & 0xFF;
00105       *(outbuffer + offset + 6) = (u_position_covariancei.base >> (8 * 6)) & 0xFF;
00106       *(outbuffer + offset + 7) = (u_position_covariancei.base >> (8 * 7)) & 0xFF;
00107       offset += sizeof(this->position_covariance[i]);
00108       }
00109       *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
00110       offset += sizeof(this->position_covariance_type);
00111       return offset;
00112     }
00113 
00114     virtual int deserialize(unsigned char *inbuffer)
00115     {
00116       int offset = 0;
00117       offset += this->header.deserialize(inbuffer + offset);
00118       offset += this->status.deserialize(inbuffer + offset);
00119       union {
00120         double real;
00121         uint64_t base;
00122       } u_latitude;
00123       u_latitude.base = 0;
00124       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00125       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00126       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00127       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00128       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00129       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00130       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00131       u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00132       this->latitude = u_latitude.real;
00133       offset += sizeof(this->latitude);
00134       union {
00135         double real;
00136         uint64_t base;
00137       } u_longitude;
00138       u_longitude.base = 0;
00139       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00140       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00141       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00142       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00143       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00144       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00145       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00146       u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00147       this->longitude = u_longitude.real;
00148       offset += sizeof(this->longitude);
00149       union {
00150         double real;
00151         uint64_t base;
00152       } u_altitude;
00153       u_altitude.base = 0;
00154       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00155       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00156       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00157       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00158       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00159       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00160       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00161       u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00162       this->altitude = u_altitude.real;
00163       offset += sizeof(this->altitude);
00164       for( uint32_t i = 0; i < 9; i++){
00165       union {
00166         double real;
00167         uint64_t base;
00168       } u_position_covariancei;
00169       u_position_covariancei.base = 0;
00170       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00171       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00172       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00173       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00174       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00175       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00176       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00177       u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00178       this->position_covariance[i] = u_position_covariancei.real;
00179       offset += sizeof(this->position_covariance[i]);
00180       }
00181       this->position_covariance_type =  ((uint8_t) (*(inbuffer + offset)));
00182       offset += sizeof(this->position_covariance_type);
00183      return offset;
00184     }
00185 
00186     const char * getType(){ return "sensor_msgs/NavSatFix"; };
00187     const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
00188 
00189   };
00190 
00191 }
00192 #endif