Go to the documentation of this file.00001 #ifndef _ROS_std_msgs_Float64MultiArray_h
00002 #define _ROS_std_msgs_Float64MultiArray_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/MultiArrayLayout.h"
00009
00010 namespace std_msgs
00011 {
00012
00013 class Float64MultiArray : public ros::Msg
00014 {
00015 public:
00016 std_msgs::MultiArrayLayout layout;
00017 uint8_t data_length;
00018 float st_data;
00019 float * data;
00020
00021 virtual int serialize(unsigned char *outbuffer) const
00022 {
00023 int offset = 0;
00024 offset += this->layout.serialize(outbuffer + offset);
00025 *(outbuffer + offset++) = data_length;
00026 *(outbuffer + offset++) = 0;
00027 *(outbuffer + offset++) = 0;
00028 *(outbuffer + offset++) = 0;
00029 for( uint8_t i = 0; i < data_length; i++){
00030 int32_t * val_datai = (int32_t *) &(this->data[i]);
00031 int32_t exp_datai = (((*val_datai)>>23)&255);
00032 if(exp_datai != 0)
00033 exp_datai += 1023-127;
00034 int32_t sig_datai = *val_datai;
00035 *(outbuffer + offset++) = 0;
00036 *(outbuffer + offset++) = 0;
00037 *(outbuffer + offset++) = 0;
00038 *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
00039 *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
00040 *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
00041 *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
00042 *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
00043 if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
00044 }
00045 return offset;
00046 }
00047
00048 virtual int deserialize(unsigned char *inbuffer)
00049 {
00050 int offset = 0;
00051 offset += this->layout.deserialize(inbuffer + offset);
00052 uint8_t data_lengthT = *(inbuffer + offset++);
00053 if(data_lengthT > data_length)
00054 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
00055 offset += 3;
00056 data_length = data_lengthT;
00057 for( uint8_t i = 0; i < data_length; i++){
00058 uint32_t * val_st_data = (uint32_t*) &(this->st_data);
00059 offset += 3;
00060 *val_st_data = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00061 *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00062 *val_st_data |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00063 *val_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00064 uint32_t exp_st_data = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00065 exp_st_data |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00066 if(exp_st_data !=0)
00067 *val_st_data |= ((exp_st_data)-1023+127)<<23;
00068 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
00069 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
00070 }
00071 return offset;
00072 }
00073
00074 const char * getType(){ return "std_msgs/Float64MultiArray"; };
00075 const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
00076
00077 };
00078
00079 }
00080 #endif