Go to the documentation of this file.00001 #ifndef ros_std_msgs_Float64_h
00002 #define ros_std_msgs_Float64_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "../ros/msg.h"
00008
00009 namespace std_msgs
00010 {
00011
00012 class Float64 : public ros::Msg
00013 {
00014 public:
00015 float data;
00016
00017 virtual int serialize(unsigned char *outbuffer)
00018 {
00019 int offset = 0;
00020 long * val_data = (long *) &(this->data);
00021 long exp_data = (((*val_data)>>23)&255);
00022 if(exp_data != 0)
00023 exp_data += 1023-127;
00024 long sig_data = *val_data;
00025 *(outbuffer + offset++) = 0;
00026 *(outbuffer + offset++) = 0;
00027 *(outbuffer + offset++) = 0;
00028 *(outbuffer + offset++) = (sig_data<<5) & 0xff;
00029 *(outbuffer + offset++) = (sig_data>>3) & 0xff;
00030 *(outbuffer + offset++) = (sig_data>>11) & 0xff;
00031 *(outbuffer + offset++) = ((exp_data<<4) & 0xF0) | ((sig_data>>19)&0x0F);
00032 *(outbuffer + offset++) = (exp_data>>4) & 0x7F;
00033 if(this->data < 0) *(outbuffer + offset -1) |= 0x80;
00034 return offset;
00035 }
00036
00037 virtual int deserialize(unsigned char *inbuffer)
00038 {
00039 int offset = 0;
00040 unsigned long * val_data = (unsigned long*) &(this->data);
00041 offset += 3;
00042 *val_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00043 *val_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00044 *val_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00045 *val_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00046 unsigned long exp_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00047 exp_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00048 if(exp_data !=0)
00049 *val_data |= ((exp_data)-1023+127)<<23;
00050 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data;
00051 return offset;
00052 }
00053
00054 const char * getType(){ return "std_msgs/Float64"; };
00055
00056 };
00057
00058 }
00059 #endif
