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/PoseWithCovariance.h@0:77afd7560544, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:30 2011 +0000
Revision:
0:77afd7560544
Child:
1:ff0ec969dad1

        

        
Who changed what in which revision?

        

            
                
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#ifndef ros_PoseWithCovariance_h





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#define ros_PoseWithCovariance_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/Pose.h"





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namespace geometry_msgs





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{





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  class PoseWithCovariance : public ros::Msg





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  {





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    public:





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      geometry_msgs::Pose pose;





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      float covariance[36];





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    virtual int serialize(unsigned char *outbuffer)





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    {





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      int offset = 0;





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





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





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      for( unsigned char i = 0; i < 36; i++){





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





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      long 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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      long 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->pose.deserialize(inbuffer + offset);





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





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      for( unsigned char i = 0; i < 36; i++){





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





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      offset += 3;





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





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





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





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





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





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      exp_covariancei |= ((unsigned long)(*(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/PoseWithCovariance"; };





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  };





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}





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#endif