Go to the documentation of this file.00001 #ifndef _ROS_shape_msgs_Plane_h
00002 #define _ROS_shape_msgs_Plane_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008
00009 namespace shape_msgs
00010 {
00011
00012 class Plane : public ros::Msg
00013 {
00014 public:
00015 float coef[4];
00016
00017 virtual int serialize(unsigned char *outbuffer) const
00018 {
00019 int offset = 0;
00020 unsigned char * coef_val = (unsigned char *) this->coef;
00021 for( uint8_t i = 0; i < 4; i++){
00022 int32_t * val_coefi = (int32_t *) &(this->coef[i]);
00023 int32_t exp_coefi = (((*val_coefi)>>23)&255);
00024 if(exp_coefi != 0)
00025 exp_coefi += 1023-127;
00026 int32_t sig_coefi = *val_coefi;
00027 *(outbuffer + offset++) = 0;
00028 *(outbuffer + offset++) = 0;
00029 *(outbuffer + offset++) = 0;
00030 *(outbuffer + offset++) = (sig_coefi<<5) & 0xff;
00031 *(outbuffer + offset++) = (sig_coefi>>3) & 0xff;
00032 *(outbuffer + offset++) = (sig_coefi>>11) & 0xff;
00033 *(outbuffer + offset++) = ((exp_coefi<<4) & 0xF0) | ((sig_coefi>>19)&0x0F);
00034 *(outbuffer + offset++) = (exp_coefi>>4) & 0x7F;
00035 if(this->coef[i] < 0) *(outbuffer + offset -1) |= 0x80;
00036 }
00037 return offset;
00038 }
00039
00040 virtual int deserialize(unsigned char *inbuffer)
00041 {
00042 int offset = 0;
00043 uint8_t * coef_val = (uint8_t*) this->coef;
00044 for( uint8_t i = 0; i < 4; i++){
00045 uint32_t * val_coefi = (uint32_t*) &(this->coef[i]);
00046 offset += 3;
00047 *val_coefi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00048 *val_coefi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00049 *val_coefi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00050 *val_coefi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00051 uint32_t exp_coefi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00052 exp_coefi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00053 if(exp_coefi !=0)
00054 *val_coefi |= ((exp_coefi)-1023+127)<<23;
00055 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->coef[i] = -this->coef[i];
00056 }
00057 return offset;
00058 }
00059
00060 const char * getType(){ return "shape_msgs/Plane"; };
00061 const char * getMD5(){ return "2c1b92ed8f31492f8e73f6a4a44ca796"; };
00062
00063 };
00064
00065 }
00066 #endif