nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

geometry_msgs/Quaternion.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?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef _ROS_geometry_msgs_Quaternion_h





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#define _ROS_geometry_msgs_Quaternion_h





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#include <stdint.h>





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#include <string.h>





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#include <stdlib.h>





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#include "ros/msg.h"





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namespace geometry_msgs





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{





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  class Quaternion : public ros::Msg





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  {





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    public:





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      float x;





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      float y;





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      float z;





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      float w;





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    virtual int serialize(unsigned char *outbuffer) const





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    {





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      int offset = 0;





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      int32_t * val_x = (long *) &(this->x);





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      int32_t exp_x = (((*val_x)>>23)&255);





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      if(exp_x != 0)





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        exp_x += 1023-127;





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      int32_t sig_x = *val_x;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = (sig_x<<5) & 0xff;





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      *(outbuffer + offset++) = (sig_x>>3) & 0xff;





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      *(outbuffer + offset++) = (sig_x>>11) & 0xff;





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      *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);





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      *(outbuffer + offset++) = (exp_x>>4) & 0x7F;





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      if(this->x < 0) *(outbuffer + offset -1) |= 0x80;





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      int32_t * val_y = (long *) &(this->y);





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      int32_t exp_y = (((*val_y)>>23)&255);





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      if(exp_y != 0)





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        exp_y += 1023-127;





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      int32_t sig_y = *val_y;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = (sig_y<<5) & 0xff;





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      *(outbuffer + offset++) = (sig_y>>3) & 0xff;





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      *(outbuffer + offset++) = (sig_y>>11) & 0xff;





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      *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);





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      *(outbuffer + offset++) = (exp_y>>4) & 0x7F;





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      if(this->y < 0) *(outbuffer + offset -1) |= 0x80;





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      int32_t * val_z = (long *) &(this->z);





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      int32_t exp_z = (((*val_z)>>23)&255);





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      if(exp_z != 0)





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        exp_z += 1023-127;





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      int32_t sig_z = *val_z;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = (sig_z<<5) & 0xff;





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      *(outbuffer + offset++) = (sig_z>>3) & 0xff;





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      *(outbuffer + offset++) = (sig_z>>11) & 0xff;





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      *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F);





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      *(outbuffer + offset++) = (exp_z>>4) & 0x7F;





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      if(this->z < 0) *(outbuffer + offset -1) |= 0x80;





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      int32_t * val_w = (long *) &(this->w);





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      int32_t exp_w = (((*val_w)>>23)&255);





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      if(exp_w != 0)





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        exp_w += 1023-127;





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      int32_t sig_w = *val_w;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = (sig_w<<5) & 0xff;





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      *(outbuffer + offset++) = (sig_w>>3) & 0xff;





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      *(outbuffer + offset++) = (sig_w>>11) & 0xff;





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      *(outbuffer + offset++) = ((exp_w<<4) & 0xF0) | ((sig_w>>19)&0x0F);





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      *(outbuffer + offset++) = (exp_w>>4) & 0x7F;





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      if(this->w < 0) *(outbuffer + offset -1) |= 0x80;





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      return offset;





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    }





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    virtual int deserialize(unsigned char *inbuffer)





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    {





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      int offset = 0;





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      uint32_t * val_x = (uint32_t*) &(this->x);





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      offset += 3;





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      *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);





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      *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;





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      *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;





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      *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;





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      uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;





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      exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;





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      if(exp_x !=0)





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        *val_x |= ((exp_x)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;





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      uint32_t * val_y = (uint32_t*) &(this->y);





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      offset += 3;





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      *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);





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      *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;





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      *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;





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      *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;





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      uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;





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      exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;





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      if(exp_y !=0)





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        *val_y |= ((exp_y)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;





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      uint32_t * val_z = (uint32_t*) &(this->z);





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      offset += 3;





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      *val_z = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);





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      *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;





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      *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;





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      *val_z |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;





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      uint32_t exp_z = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;





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      exp_z |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;





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      if(exp_z !=0)





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        *val_z |= ((exp_z)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z;





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      uint32_t * val_w = (uint32_t*) &(this->w);





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      offset += 3;





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      *val_w = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);





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      *val_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;





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      *val_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;





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      *val_w |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;





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      uint32_t exp_w = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;





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      exp_w |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;





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      if(exp_w !=0)





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        *val_w |= ((exp_w)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->w = -this->w;





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     return offset;





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    }





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    virtual const char * getType(){ return "geometry_msgs/Quaternion"; };





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    virtual const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; };





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  };





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}





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#endif