Quaternion.h
Go to the documentation of this file.
00001 #ifndef _ROS_geometry_msgs_Quaternion_h
00002 #define _ROS_geometry_msgs_Quaternion_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace geometry_msgs
00010 {
00011 
00012   class Quaternion : public ros::Msg
00013   {
00014     public:
00015       float x;
00016       float y;
00017       float z;
00018       float w;
00019 
00020     virtual int serialize(unsigned char *outbuffer) const
00021     {
00022       int offset = 0;
00023       int32_t * val_x = (int32_t *) &(this->x);
00024       int32_t exp_x = (((*val_x)>>23)&255);
00025       if(exp_x != 0)
00026         exp_x += 1023-127;
00027       int32_t sig_x = *val_x;
00028       *(outbuffer + offset++) = 0;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = (sig_x<<5) & 0xff;
00032       *(outbuffer + offset++) = (sig_x>>3) & 0xff;
00033       *(outbuffer + offset++) = (sig_x>>11) & 0xff;
00034       *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);
00035       *(outbuffer + offset++) = (exp_x>>4) & 0x7F;
00036       if(this->x < 0) *(outbuffer + offset -1) |= 0x80;
00037       int32_t * val_y = (int32_t *) &(this->y);
00038       int32_t exp_y = (((*val_y)>>23)&255);
00039       if(exp_y != 0)
00040         exp_y += 1023-127;
00041       int32_t sig_y = *val_y;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       *(outbuffer + offset++) = 0;
00045       *(outbuffer + offset++) = (sig_y<<5) & 0xff;
00046       *(outbuffer + offset++) = (sig_y>>3) & 0xff;
00047       *(outbuffer + offset++) = (sig_y>>11) & 0xff;
00048       *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);
00049       *(outbuffer + offset++) = (exp_y>>4) & 0x7F;
00050       if(this->y < 0) *(outbuffer + offset -1) |= 0x80;
00051       int32_t * val_z = (int32_t *) &(this->z);
00052       int32_t exp_z = (((*val_z)>>23)&255);
00053       if(exp_z != 0)
00054         exp_z += 1023-127;
00055       int32_t sig_z = *val_z;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = 0;
00058       *(outbuffer + offset++) = 0;
00059       *(outbuffer + offset++) = (sig_z<<5) & 0xff;
00060       *(outbuffer + offset++) = (sig_z>>3) & 0xff;
00061       *(outbuffer + offset++) = (sig_z>>11) & 0xff;
00062       *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F);
00063       *(outbuffer + offset++) = (exp_z>>4) & 0x7F;
00064       if(this->z < 0) *(outbuffer + offset -1) |= 0x80;
00065       int32_t * val_w = (int32_t *) &(this->w);
00066       int32_t exp_w = (((*val_w)>>23)&255);
00067       if(exp_w != 0)
00068         exp_w += 1023-127;
00069       int32_t sig_w = *val_w;
00070       *(outbuffer + offset++) = 0;
00071       *(outbuffer + offset++) = 0;
00072       *(outbuffer + offset++) = 0;
00073       *(outbuffer + offset++) = (sig_w<<5) & 0xff;
00074       *(outbuffer + offset++) = (sig_w>>3) & 0xff;
00075       *(outbuffer + offset++) = (sig_w>>11) & 0xff;
00076       *(outbuffer + offset++) = ((exp_w<<4) & 0xF0) | ((sig_w>>19)&0x0F);
00077       *(outbuffer + offset++) = (exp_w>>4) & 0x7F;
00078       if(this->w < 0) *(outbuffer + offset -1) |= 0x80;
00079       return offset;
00080     }
00081 
00082     virtual int deserialize(unsigned char *inbuffer)
00083     {
00084       int offset = 0;
00085       uint32_t * val_x = (uint32_t*) &(this->x);
00086       offset += 3;
00087       *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00088       *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00089       *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00090       *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00091       uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00092       exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00093       if(exp_x !=0)
00094         *val_x |= ((exp_x)-1023+127)<<23;
00095       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
00096       uint32_t * val_y = (uint32_t*) &(this->y);
00097       offset += 3;
00098       *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00099       *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00100       *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00101       *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00102       uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00103       exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00104       if(exp_y !=0)
00105         *val_y |= ((exp_y)-1023+127)<<23;
00106       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
00107       uint32_t * val_z = (uint32_t*) &(this->z);
00108       offset += 3;
00109       *val_z = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00110       *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00111       *val_z |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00112       *val_z |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00113       uint32_t exp_z = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00114       exp_z |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00115       if(exp_z !=0)
00116         *val_z |= ((exp_z)-1023+127)<<23;
00117       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z;
00118       uint32_t * val_w = (uint32_t*) &(this->w);
00119       offset += 3;
00120       *val_w = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00121       *val_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00122       *val_w |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00123       *val_w |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00124       uint32_t exp_w = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00125       exp_w |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00126       if(exp_w !=0)
00127         *val_w |= ((exp_w)-1023+127)<<23;
00128       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->w = -this->w;
00129      return offset;
00130     }
00131 
00132     const char * getType(){ return "geometry_msgs/Quaternion"; };
00133     const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; };
00134 
00135   };
00136 
00137 }
00138 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:56