Diff: geometry_msgs/Pose2D.h

Revision:

0:77afd7560544

Child:

1:ff0ec969dad1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Pose2D.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,111 @@
+#ifndef ros_Pose2D_h
+#define ros_Pose2D_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Pose2D : public ros::Msg
+  {
+    public:
+      float x;
+      float y;
+      float theta;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      long * val_x = (long *) &(this->x);
+      long exp_x = (((*val_x)>>23)&255);
+      if(exp_x != 0)
+        exp_x += 1023-127;
+      long sig_x = *val_x;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_x<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_x>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_x>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_x>>4) & 0x7F;
+      if(this->x < 0) *(outbuffer + offset -1) |= 0x80;
+      long * val_y = (long *) &(this->y);
+      long exp_y = (((*val_y)>>23)&255);
+      if(exp_y != 0)
+        exp_y += 1023-127;
+      long sig_y = *val_y;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_y<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_y>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_y>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_y>>4) & 0x7F;
+      if(this->y < 0) *(outbuffer + offset -1) |= 0x80;
+      long * val_theta = (long *) &(this->theta);
+      long exp_theta = (((*val_theta)>>23)&255);
+      if(exp_theta != 0)
+        exp_theta += 1023-127;
+      long sig_theta = *val_theta;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = (sig_theta<<5) & 0xff;
+      *(outbuffer + offset++) = (sig_theta>>3) & 0xff;
+      *(outbuffer + offset++) = (sig_theta>>11) & 0xff;
+      *(outbuffer + offset++) = ((exp_theta<<4) & 0xF0) | ((sig_theta>>19)&0x0F);
+      *(outbuffer + offset++) = (exp_theta>>4) & 0x7F;
+      if(this->theta < 0) *(outbuffer + offset -1) |= 0x80;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      unsigned long * val_x = (unsigned long*) &(this->x);
+      offset += 3;
+      *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_x !=0)
+        *val_x |= ((exp_x)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
+      unsigned long * val_y = (unsigned long*) &(this->y);
+      offset += 3;
+      *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_y !=0)
+        *val_y |= ((exp_y)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
+      unsigned long * val_theta = (unsigned long*) &(this->theta);
+      offset += 3;
+      *val_theta = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+      *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+      *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+      *val_theta |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+      unsigned long exp_theta = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+      exp_theta |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+      if(exp_theta !=0)
+        *val_theta |= ((exp_theta)-1023+127)<<23;
+      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta;
+     return offset;
+    }
+
+   virtual const char * getType(){ return "geometry_msgs/Pose2D"; };
+
+  };
+
+}
+#endif
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