MagneticField.h
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00001 #ifndef _ROS_sensor_msgs_MagneticField_h
00002 #define _ROS_sensor_msgs_MagneticField_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/Vector3.h"
00010 
00011 namespace sensor_msgs
00012 {
00013 
00014   class MagneticField : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       geometry_msgs::Vector3 magnetic_field;
00019       float magnetic_field_covariance[9];
00020 
00021     virtual int serialize(unsigned char *outbuffer) const
00022     {
00023       int offset = 0;
00024       offset += this->header.serialize(outbuffer + offset);
00025       offset += this->magnetic_field.serialize(outbuffer + offset);
00026       for( uint8_t i = 0; i < 9; i++){
00027       int32_t * val_magnetic_field_covariancei = (int32_t *) &(this->magnetic_field_covariance[i]);
00028       int32_t exp_magnetic_field_covariancei = (((*val_magnetic_field_covariancei)>>23)&255);
00029       if(exp_magnetic_field_covariancei != 0)
00030         exp_magnetic_field_covariancei += 1023-127;
00031       int32_t sig_magnetic_field_covariancei = *val_magnetic_field_covariancei;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = 0;
00035       *(outbuffer + offset++) = (sig_magnetic_field_covariancei<<5) & 0xff;
00036       *(outbuffer + offset++) = (sig_magnetic_field_covariancei>>3) & 0xff;
00037       *(outbuffer + offset++) = (sig_magnetic_field_covariancei>>11) & 0xff;
00038       *(outbuffer + offset++) = ((exp_magnetic_field_covariancei<<4) & 0xF0) | ((sig_magnetic_field_covariancei>>19)&0x0F);
00039       *(outbuffer + offset++) = (exp_magnetic_field_covariancei>>4) & 0x7F;
00040       if(this->magnetic_field_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00041       }
00042       return offset;
00043     }
00044 
00045     virtual int deserialize(unsigned char *inbuffer)
00046     {
00047       int offset = 0;
00048       offset += this->header.deserialize(inbuffer + offset);
00049       offset += this->magnetic_field.deserialize(inbuffer + offset);
00050       for( uint8_t i = 0; i < 9; i++){
00051       uint32_t * val_magnetic_field_covariancei = (uint32_t*) &(this->magnetic_field_covariance[i]);
00052       offset += 3;
00053       *val_magnetic_field_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00054       *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00055       *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00056       *val_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00057       uint32_t exp_magnetic_field_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00058       exp_magnetic_field_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00059       if(exp_magnetic_field_covariancei !=0)
00060         *val_magnetic_field_covariancei |= ((exp_magnetic_field_covariancei)-1023+127)<<23;
00061       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->magnetic_field_covariance[i] = -this->magnetic_field_covariance[i];
00062       }
00063      return offset;
00064     }
00065 
00066     const char * getType(){ return "sensor_msgs/MagneticField"; };
00067     const char * getMD5(){ return "2f3b0b43eed0c9501de0fa3ff89a45aa"; };
00068 
00069   };
00070 
00071 }
00072 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Thu Aug 27 2015 14:39:49