HectorIterData.h
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00001 #ifndef _ROS_hector_mapping_HectorIterData_h
00002 #define _ROS_hector_mapping_HectorIterData_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace hector_mapping
00010 {
00011 
00012   class HectorIterData : public ros::Msg
00013   {
00014     public:
00015       float hessian[9];
00016       float conditionNum;
00017       float determinant;
00018       float conditionNum2d;
00019       float determinant2d;
00020 
00021     virtual int serialize(unsigned char *outbuffer) const
00022     {
00023       int offset = 0;
00024       for( uint8_t i = 0; i < 9; i++){
00025       int32_t * val_hessiani = (int32_t *) &(this->hessian[i]);
00026       int32_t exp_hessiani = (((*val_hessiani)>>23)&255);
00027       if(exp_hessiani != 0)
00028         exp_hessiani += 1023-127;
00029       int32_t sig_hessiani = *val_hessiani;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = 0;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = (sig_hessiani<<5) & 0xff;
00034       *(outbuffer + offset++) = (sig_hessiani>>3) & 0xff;
00035       *(outbuffer + offset++) = (sig_hessiani>>11) & 0xff;
00036       *(outbuffer + offset++) = ((exp_hessiani<<4) & 0xF0) | ((sig_hessiani>>19)&0x0F);
00037       *(outbuffer + offset++) = (exp_hessiani>>4) & 0x7F;
00038       if(this->hessian[i] < 0) *(outbuffer + offset -1) |= 0x80;
00039       }
00040       int32_t * val_conditionNum = (int32_t *) &(this->conditionNum);
00041       int32_t exp_conditionNum = (((*val_conditionNum)>>23)&255);
00042       if(exp_conditionNum != 0)
00043         exp_conditionNum += 1023-127;
00044       int32_t sig_conditionNum = *val_conditionNum;
00045       *(outbuffer + offset++) = 0;
00046       *(outbuffer + offset++) = 0;
00047       *(outbuffer + offset++) = 0;
00048       *(outbuffer + offset++) = (sig_conditionNum<<5) & 0xff;
00049       *(outbuffer + offset++) = (sig_conditionNum>>3) & 0xff;
00050       *(outbuffer + offset++) = (sig_conditionNum>>11) & 0xff;
00051       *(outbuffer + offset++) = ((exp_conditionNum<<4) & 0xF0) | ((sig_conditionNum>>19)&0x0F);
00052       *(outbuffer + offset++) = (exp_conditionNum>>4) & 0x7F;
00053       if(this->conditionNum < 0) *(outbuffer + offset -1) |= 0x80;
00054       int32_t * val_determinant = (int32_t *) &(this->determinant);
00055       int32_t exp_determinant = (((*val_determinant)>>23)&255);
00056       if(exp_determinant != 0)
00057         exp_determinant += 1023-127;
00058       int32_t sig_determinant = *val_determinant;
00059       *(outbuffer + offset++) = 0;
00060       *(outbuffer + offset++) = 0;
00061       *(outbuffer + offset++) = 0;
00062       *(outbuffer + offset++) = (sig_determinant<<5) & 0xff;
00063       *(outbuffer + offset++) = (sig_determinant>>3) & 0xff;
00064       *(outbuffer + offset++) = (sig_determinant>>11) & 0xff;
00065       *(outbuffer + offset++) = ((exp_determinant<<4) & 0xF0) | ((sig_determinant>>19)&0x0F);
00066       *(outbuffer + offset++) = (exp_determinant>>4) & 0x7F;
00067       if(this->determinant < 0) *(outbuffer + offset -1) |= 0x80;
00068       int32_t * val_conditionNum2d = (int32_t *) &(this->conditionNum2d);
00069       int32_t exp_conditionNum2d = (((*val_conditionNum2d)>>23)&255);
00070       if(exp_conditionNum2d != 0)
00071         exp_conditionNum2d += 1023-127;
00072       int32_t sig_conditionNum2d = *val_conditionNum2d;
00073       *(outbuffer + offset++) = 0;
00074       *(outbuffer + offset++) = 0;
00075       *(outbuffer + offset++) = 0;
00076       *(outbuffer + offset++) = (sig_conditionNum2d<<5) & 0xff;
00077       *(outbuffer + offset++) = (sig_conditionNum2d>>3) & 0xff;
00078       *(outbuffer + offset++) = (sig_conditionNum2d>>11) & 0xff;
00079       *(outbuffer + offset++) = ((exp_conditionNum2d<<4) & 0xF0) | ((sig_conditionNum2d>>19)&0x0F);
00080       *(outbuffer + offset++) = (exp_conditionNum2d>>4) & 0x7F;
00081       if(this->conditionNum2d < 0) *(outbuffer + offset -1) |= 0x80;
00082       int32_t * val_determinant2d = (int32_t *) &(this->determinant2d);
00083       int32_t exp_determinant2d = (((*val_determinant2d)>>23)&255);
00084       if(exp_determinant2d != 0)
00085         exp_determinant2d += 1023-127;
00086       int32_t sig_determinant2d = *val_determinant2d;
00087       *(outbuffer + offset++) = 0;
00088       *(outbuffer + offset++) = 0;
00089       *(outbuffer + offset++) = 0;
00090       *(outbuffer + offset++) = (sig_determinant2d<<5) & 0xff;
00091       *(outbuffer + offset++) = (sig_determinant2d>>3) & 0xff;
00092       *(outbuffer + offset++) = (sig_determinant2d>>11) & 0xff;
00093       *(outbuffer + offset++) = ((exp_determinant2d<<4) & 0xF0) | ((sig_determinant2d>>19)&0x0F);
00094       *(outbuffer + offset++) = (exp_determinant2d>>4) & 0x7F;
00095       if(this->determinant2d < 0) *(outbuffer + offset -1) |= 0x80;
00096       return offset;
00097     }
00098 
00099     virtual int deserialize(unsigned char *inbuffer)
00100     {
00101       int offset = 0;
00102       for( uint8_t i = 0; i < 9; i++){
00103       uint32_t * val_hessiani = (uint32_t*) &(this->hessian[i]);
00104       offset += 3;
00105       *val_hessiani = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00106       *val_hessiani |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00107       *val_hessiani |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00108       *val_hessiani |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00109       uint32_t exp_hessiani = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00110       exp_hessiani |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00111       if(exp_hessiani !=0)
00112         *val_hessiani |= ((exp_hessiani)-1023+127)<<23;
00113       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->hessian[i] = -this->hessian[i];
00114       }
00115       uint32_t * val_conditionNum = (uint32_t*) &(this->conditionNum);
00116       offset += 3;
00117       *val_conditionNum = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00118       *val_conditionNum |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00119       *val_conditionNum |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00120       *val_conditionNum |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00121       uint32_t exp_conditionNum = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00122       exp_conditionNum |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00123       if(exp_conditionNum !=0)
00124         *val_conditionNum |= ((exp_conditionNum)-1023+127)<<23;
00125       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->conditionNum = -this->conditionNum;
00126       uint32_t * val_determinant = (uint32_t*) &(this->determinant);
00127       offset += 3;
00128       *val_determinant = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00129       *val_determinant |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00130       *val_determinant |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00131       *val_determinant |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00132       uint32_t exp_determinant = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00133       exp_determinant |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00134       if(exp_determinant !=0)
00135         *val_determinant |= ((exp_determinant)-1023+127)<<23;
00136       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->determinant = -this->determinant;
00137       uint32_t * val_conditionNum2d = (uint32_t*) &(this->conditionNum2d);
00138       offset += 3;
00139       *val_conditionNum2d = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00140       *val_conditionNum2d |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00141       *val_conditionNum2d |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00142       *val_conditionNum2d |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00143       uint32_t exp_conditionNum2d = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00144       exp_conditionNum2d |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00145       if(exp_conditionNum2d !=0)
00146         *val_conditionNum2d |= ((exp_conditionNum2d)-1023+127)<<23;
00147       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->conditionNum2d = -this->conditionNum2d;
00148       uint32_t * val_determinant2d = (uint32_t*) &(this->determinant2d);
00149       offset += 3;
00150       *val_determinant2d = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00151       *val_determinant2d |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00152       *val_determinant2d |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00153       *val_determinant2d |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00154       uint32_t exp_determinant2d = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00155       exp_determinant2d |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00156       if(exp_determinant2d !=0)
00157         *val_determinant2d |= ((exp_determinant2d)-1023+127)<<23;
00158       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->determinant2d = -this->determinant2d;
00159      return offset;
00160     }
00161 
00162     const char * getType(){ return "hector_mapping/HectorIterData"; };
00163     const char * getMD5(){ return "ecedaa7e26b5fc817a1add44c17fec5f"; };
00164 
00165   };
00166 
00167 }
00168 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:55