Diff: std_msgs/Float64MultiArray.h

Revision:

0:06fc856e99ca

Child:

1:098e75fd5ad2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Float64MultiArray.h	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,79 @@
+#ifndef ros_Float64MultiArray_h
+#define ros_Float64MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Float64MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      unsigned char data_length;
+      float st_data;
+      float * data;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < data_length; i++){
+      long * val_datai = (long *) &(this->data[i]);
+      long exp_datai = (((*val_datai)>>23)&255);
+      if(exp_datai != 0)
+        exp_datai += 1023-127;
+      long sig_datai = *val_datai;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
+      if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      unsigned char data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+      offset += 3;
+      data_length = data_lengthT;
+      for( unsigned char i = 0; i < data_length; i++){
+      unsigned long * val_st_data = (unsigned long*) &(this->st_data);
+      offset += 3;
+      *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_st_data !=0)
+        *val_st_data |= ((exp_st_data)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+      }
+     return offset;
+    }
+
+   virtual const char * getType(){ return "std_msgs/Float64MultiArray"; };
+
+  };
+
+}
+#endif
\ No newline at end of file