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/TwistWithCovariance.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_TwistWithCovariance_h





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#define _ROS_geometry_msgs_TwistWithCovariance_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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#include "geometry_msgs/Twist.h"





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namespace geometry_msgs





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{





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  class TwistWithCovariance : public ros::Msg





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  {





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    public:





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      geometry_msgs::Twist twist;





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      float covariance[36];





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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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      offset += this->twist.serialize(outbuffer + offset);





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      unsigned char * covariance_val = (unsigned char *) this->covariance;





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      for( uint8_t i = 0; i < 36; i++){





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      int32_t * val_covariancei = (long *) &(this->covariance[i]);





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      int32_t exp_covariancei = (((*val_covariancei)>>23)&255);





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      if(exp_covariancei != 0)





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        exp_covariancei += 1023-127;





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      int32_t sig_covariancei = *val_covariancei;





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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_covariancei<<5) & 0xff;





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





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





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





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





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      if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;





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      }





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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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      offset += this->twist.deserialize(inbuffer + offset);





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      uint8_t * covariance_val = (uint8_t*) this->covariance;





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      for( uint8_t i = 0; i < 36; i++){





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      uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);





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      offset += 3;





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





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





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





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





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





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





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      if(exp_covariancei !=0)





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        *val_covariancei |= ((exp_covariancei)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];





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      }





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     return offset;





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    }





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





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    virtual const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; };





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  };





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}





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#endif