Diff: geometry_msgs/PoseWithCovariance.h

Revision:

4:2cbca0ac2569

Parent:

3:dff241b66f84

--- a/geometry_msgs/PoseWithCovariance.h	Sat Nov 12 23:53:04 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,70 +0,0 @@
-#ifndef _ROS_geometry_msgs_PoseWithCovariance_h
-#define _ROS_geometry_msgs_PoseWithCovariance_h
-
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include "ros/msg.h"
-#include "geometry_msgs/Pose.h"
-
-namespace geometry_msgs
-{
-
-  class PoseWithCovariance : public ros::Msg
-  {
-    public:
-      geometry_msgs::Pose pose;
-      float covariance[36];
-
-    virtual int serialize(unsigned char *outbuffer) const
-    {
-      int offset = 0;
-      offset += this->pose.serialize(outbuffer + offset);
-      unsigned char * covariance_val = (unsigned char *) this->covariance;
-      for( uint8_t i = 0; i < 36; i++){
-      int32_t * val_covariancei = (long *) &(this->covariance[i]);
-      int32_t exp_covariancei = (((*val_covariancei)>>23)&255);
-      if(exp_covariancei != 0)
-        exp_covariancei += 1023-127;
-      int32_t sig_covariancei = *val_covariancei;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff;
-      *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff;
-      *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff;
-      *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F);
-      *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F;
-      if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
-      }
-      return offset;
-    }
-
-    virtual int deserialize(unsigned char *inbuffer)
-    {
-      int offset = 0;
-      offset += this->pose.deserialize(inbuffer + offset);
-      uint8_t * covariance_val = (uint8_t*) this->covariance;
-      for( uint8_t i = 0; i < 36; i++){
-      uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);
-      offset += 3;
-      *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
-      *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
-      *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
-      *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
-      uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
-      exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
-      if(exp_covariancei !=0)
-        *val_covariancei |= ((exp_covariancei)-1023+127)<<23;
-      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];
-      }
-     return offset;
-    }
-
-    virtual const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
-    virtual const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
-
-  };
-
-}
-#endif
\ No newline at end of file