Quaternion.h

00001 #ifndef _ROS_geometry_msgs_Quaternion_h
00002 #define _ROS_geometry_msgs_Quaternion_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace geometry_msgs
00010 {
00011 
00012   class Quaternion : public ros::Msg
00013   {
00014     public:
00015       typedef double _x_type;
00016       _x_type x;
00017       typedef double _y_type;
00018       _y_type y;
00019       typedef double _z_type;
00020       _z_type z;
00021       typedef double _w_type;
00022       _w_type w;
00023 
00024     Quaternion():
00025       x(0),
00026       y(0),
00027       z(0),
00028       w(0)
00029     {
00030     }
00031 
00032     virtual int serialize(unsigned char *outbuffer) const
00033     {
00034       int offset = 0;
00035       union {
00036         double real;
00037         uint64_t base;
00038       } u_x;
00039       u_x.real = this->x;
00040       *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
00041       *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
00042       *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
00043       *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
00044       *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
00045       *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
00046       *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
00047       *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
00048       offset += sizeof(this->x);
00049       union {
00050         double real;
00051         uint64_t base;
00052       } u_y;
00053       u_y.real = this->y;
00054       *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
00055       *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
00056       *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
00057       *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
00058       *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
00059       *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
00060       *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
00061       *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
00062       offset += sizeof(this->y);
00063       union {
00064         double real;
00065         uint64_t base;
00066       } u_z;
00067       u_z.real = this->z;
00068       *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
00069       *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
00070       *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
00071       *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
00072       *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
00073       *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
00074       *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
00075       *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
00076       offset += sizeof(this->z);
00077       union {
00078         double real;
00079         uint64_t base;
00080       } u_w;
00081       u_w.real = this->w;
00082       *(outbuffer + offset + 0) = (u_w.base >> (8 * 0)) & 0xFF;
00083       *(outbuffer + offset + 1) = (u_w.base >> (8 * 1)) & 0xFF;
00084       *(outbuffer + offset + 2) = (u_w.base >> (8 * 2)) & 0xFF;
00085       *(outbuffer + offset + 3) = (u_w.base >> (8 * 3)) & 0xFF;
00086       *(outbuffer + offset + 4) = (u_w.base >> (8 * 4)) & 0xFF;
00087       *(outbuffer + offset + 5) = (u_w.base >> (8 * 5)) & 0xFF;
00088       *(outbuffer + offset + 6) = (u_w.base >> (8 * 6)) & 0xFF;
00089       *(outbuffer + offset + 7) = (u_w.base >> (8 * 7)) & 0xFF;
00090       offset += sizeof(this->w);
00091       return offset;
00092     }
00093 
00094     virtual int deserialize(unsigned char *inbuffer)
00095     {
00096       int offset = 0;
00097       union {
00098         double real;
00099         uint64_t base;
00100       } u_x;
00101       u_x.base = 0;
00102       u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00103       u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00104       u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00105       u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00106       u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00107       u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00108       u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00109       u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00110       this->x = u_x.real;
00111       offset += sizeof(this->x);
00112       union {
00113         double real;
00114         uint64_t base;
00115       } u_y;
00116       u_y.base = 0;
00117       u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00118       u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00119       u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00120       u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00121       u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00122       u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00123       u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00124       u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00125       this->y = u_y.real;
00126       offset += sizeof(this->y);
00127       union {
00128         double real;
00129         uint64_t base;
00130       } u_z;
00131       u_z.base = 0;
00132       u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00133       u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00134       u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00135       u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00136       u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00137       u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00138       u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00139       u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00140       this->z = u_z.real;
00141       offset += sizeof(this->z);
00142       union {
00143         double real;
00144         uint64_t base;
00145       } u_w;
00146       u_w.base = 0;
00147       u_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00148       u_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00149       u_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00150       u_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00151       u_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00152       u_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00153       u_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00154       u_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00155       this->w = u_w.real;
00156       offset += sizeof(this->w);
00157      return offset;
00158     }
00159 
00160     const char * getType(){ return "geometry_msgs/Quaternion"; };
00161     const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; };
00162 
00163   };
00164 
00165 }
00166 #endif