This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
geometry_msgs/PoseWithCovariance.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_geometry_msgs_PoseWithCovariance_h |
nucho | 3:1cf99502f396 | 2 | #define _ROS_geometry_msgs_PoseWithCovariance_h |
nucho | 0:77afd7560544 | 3 | |
nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
nucho | 0:77afd7560544 | 5 | #include <string.h> |
nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
nucho | 3:1cf99502f396 | 7 | #include "ros/msg.h" |
nucho | 0:77afd7560544 | 8 | #include "geometry_msgs/Pose.h" |
nucho | 0:77afd7560544 | 9 | |
nucho | 0:77afd7560544 | 10 | namespace geometry_msgs |
nucho | 0:77afd7560544 | 11 | { |
nucho | 0:77afd7560544 | 12 | |
nucho | 0:77afd7560544 | 13 | class PoseWithCovariance : public ros::Msg |
nucho | 0:77afd7560544 | 14 | { |
nucho | 0:77afd7560544 | 15 | public: |
nucho | 0:77afd7560544 | 16 | geometry_msgs::Pose pose; |
nucho | 0:77afd7560544 | 17 | float covariance[36]; |
nucho | 0:77afd7560544 | 18 | |
nucho | 3:1cf99502f396 | 19 | virtual int serialize(unsigned char *outbuffer) const |
nucho | 0:77afd7560544 | 20 | { |
nucho | 0:77afd7560544 | 21 | int offset = 0; |
nucho | 0:77afd7560544 | 22 | offset += this->pose.serialize(outbuffer + offset); |
nucho | 0:77afd7560544 | 23 | unsigned char * covariance_val = (unsigned char *) this->covariance; |
nucho | 3:1cf99502f396 | 24 | for( uint8_t i = 0; i < 36; i++){ |
nucho | 3:1cf99502f396 | 25 | int32_t * val_covariancei = (long *) &(this->covariance[i]); |
nucho | 3:1cf99502f396 | 26 | int32_t exp_covariancei = (((*val_covariancei)>>23)&255); |
nucho | 0:77afd7560544 | 27 | if(exp_covariancei != 0) |
nucho | 0:77afd7560544 | 28 | exp_covariancei += 1023-127; |
nucho | 3:1cf99502f396 | 29 | int32_t sig_covariancei = *val_covariancei; |
nucho | 0:77afd7560544 | 30 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 31 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 32 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 33 | *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff; |
nucho | 0:77afd7560544 | 34 | *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff; |
nucho | 0:77afd7560544 | 35 | *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff; |
nucho | 0:77afd7560544 | 36 | *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F); |
nucho | 0:77afd7560544 | 37 | *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F; |
nucho | 0:77afd7560544 | 38 | if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
nucho | 0:77afd7560544 | 39 | } |
nucho | 0:77afd7560544 | 40 | return offset; |
nucho | 0:77afd7560544 | 41 | } |
nucho | 0:77afd7560544 | 42 | |
nucho | 0:77afd7560544 | 43 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 0:77afd7560544 | 44 | { |
nucho | 0:77afd7560544 | 45 | int offset = 0; |
nucho | 0:77afd7560544 | 46 | offset += this->pose.deserialize(inbuffer + offset); |
nucho | 3:1cf99502f396 | 47 | uint8_t * covariance_val = (uint8_t*) this->covariance; |
nucho | 3:1cf99502f396 | 48 | for( uint8_t i = 0; i < 36; i++){ |
nucho | 3:1cf99502f396 | 49 | uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]); |
nucho | 0:77afd7560544 | 50 | offset += 3; |
nucho | 3:1cf99502f396 | 51 | *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
nucho | 3:1cf99502f396 | 52 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
nucho | 3:1cf99502f396 | 53 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
nucho | 3:1cf99502f396 | 54 | *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
nucho | 3:1cf99502f396 | 55 | uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
nucho | 3:1cf99502f396 | 56 | exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
nucho | 0:77afd7560544 | 57 | if(exp_covariancei !=0) |
nucho | 0:77afd7560544 | 58 | *val_covariancei |= ((exp_covariancei)-1023+127)<<23; |
nucho | 0:77afd7560544 | 59 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i]; |
nucho | 0:77afd7560544 | 60 | } |
nucho | 0:77afd7560544 | 61 | return offset; |
nucho | 0:77afd7560544 | 62 | } |
nucho | 0:77afd7560544 | 63 | |
nucho | 3:1cf99502f396 | 64 | virtual const char * getType(){ return "geometry_msgs/PoseWithCovariance"; }; |
nucho | 3:1cf99502f396 | 65 | virtual const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; }; |
nucho | 0:77afd7560544 | 66 | |
nucho | 0:77afd7560544 | 67 | }; |
nucho | 0:77afd7560544 | 68 | |
nucho | 0:77afd7560544 | 69 | } |
nucho | 0:77afd7560544 | 70 | #endif |