NavSatFix.h
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00001 #ifndef _ROS_sensor_msgs_NavSatFix_h
00002 #define _ROS_sensor_msgs_NavSatFix_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "sensor_msgs/NavSatStatus.h"
00010 
00011 namespace sensor_msgs
00012 {
00013 
00014   class NavSatFix : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       sensor_msgs::NavSatStatus status;
00019       float latitude;
00020       float longitude;
00021       float altitude;
00022       float position_covariance[9];
00023       uint8_t position_covariance_type;
00024       enum { COVARIANCE_TYPE_UNKNOWN =  0 };
00025       enum { COVARIANCE_TYPE_APPROXIMATED =  1 };
00026       enum { COVARIANCE_TYPE_DIAGONAL_KNOWN =  2 };
00027       enum { COVARIANCE_TYPE_KNOWN =  3 };
00028 
00029     virtual int serialize(unsigned char *outbuffer) const
00030     {
00031       int offset = 0;
00032       offset += this->header.serialize(outbuffer + offset);
00033       offset += this->status.serialize(outbuffer + offset);
00034       int32_t * val_latitude = (int32_t *) &(this->latitude);
00035       int32_t exp_latitude = (((*val_latitude)>>23)&255);
00036       if(exp_latitude != 0)
00037         exp_latitude += 1023-127;
00038       int32_t sig_latitude = *val_latitude;
00039       *(outbuffer + offset++) = 0;
00040       *(outbuffer + offset++) = 0;
00041       *(outbuffer + offset++) = 0;
00042       *(outbuffer + offset++) = (sig_latitude<<5) & 0xff;
00043       *(outbuffer + offset++) = (sig_latitude>>3) & 0xff;
00044       *(outbuffer + offset++) = (sig_latitude>>11) & 0xff;
00045       *(outbuffer + offset++) = ((exp_latitude<<4) & 0xF0) | ((sig_latitude>>19)&0x0F);
00046       *(outbuffer + offset++) = (exp_latitude>>4) & 0x7F;
00047       if(this->latitude < 0) *(outbuffer + offset -1) |= 0x80;
00048       int32_t * val_longitude = (int32_t *) &(this->longitude);
00049       int32_t exp_longitude = (((*val_longitude)>>23)&255);
00050       if(exp_longitude != 0)
00051         exp_longitude += 1023-127;
00052       int32_t sig_longitude = *val_longitude;
00053       *(outbuffer + offset++) = 0;
00054       *(outbuffer + offset++) = 0;
00055       *(outbuffer + offset++) = 0;
00056       *(outbuffer + offset++) = (sig_longitude<<5) & 0xff;
00057       *(outbuffer + offset++) = (sig_longitude>>3) & 0xff;
00058       *(outbuffer + offset++) = (sig_longitude>>11) & 0xff;
00059       *(outbuffer + offset++) = ((exp_longitude<<4) & 0xF0) | ((sig_longitude>>19)&0x0F);
00060       *(outbuffer + offset++) = (exp_longitude>>4) & 0x7F;
00061       if(this->longitude < 0) *(outbuffer + offset -1) |= 0x80;
00062       int32_t * val_altitude = (int32_t *) &(this->altitude);
00063       int32_t exp_altitude = (((*val_altitude)>>23)&255);
00064       if(exp_altitude != 0)
00065         exp_altitude += 1023-127;
00066       int32_t sig_altitude = *val_altitude;
00067       *(outbuffer + offset++) = 0;
00068       *(outbuffer + offset++) = 0;
00069       *(outbuffer + offset++) = 0;
00070       *(outbuffer + offset++) = (sig_altitude<<5) & 0xff;
00071       *(outbuffer + offset++) = (sig_altitude>>3) & 0xff;
00072       *(outbuffer + offset++) = (sig_altitude>>11) & 0xff;
00073       *(outbuffer + offset++) = ((exp_altitude<<4) & 0xF0) | ((sig_altitude>>19)&0x0F);
00074       *(outbuffer + offset++) = (exp_altitude>>4) & 0x7F;
00075       if(this->altitude < 0) *(outbuffer + offset -1) |= 0x80;
00076       for( uint8_t i = 0; i < 9; i++){
00077       int32_t * val_position_covariancei = (int32_t *) &(this->position_covariance[i]);
00078       int32_t exp_position_covariancei = (((*val_position_covariancei)>>23)&255);
00079       if(exp_position_covariancei != 0)
00080         exp_position_covariancei += 1023-127;
00081       int32_t sig_position_covariancei = *val_position_covariancei;
00082       *(outbuffer + offset++) = 0;
00083       *(outbuffer + offset++) = 0;
00084       *(outbuffer + offset++) = 0;
00085       *(outbuffer + offset++) = (sig_position_covariancei<<5) & 0xff;
00086       *(outbuffer + offset++) = (sig_position_covariancei>>3) & 0xff;
00087       *(outbuffer + offset++) = (sig_position_covariancei>>11) & 0xff;
00088       *(outbuffer + offset++) = ((exp_position_covariancei<<4) & 0xF0) | ((sig_position_covariancei>>19)&0x0F);
00089       *(outbuffer + offset++) = (exp_position_covariancei>>4) & 0x7F;
00090       if(this->position_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00091       }
00092       *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
00093       offset += sizeof(this->position_covariance_type);
00094       return offset;
00095     }
00096 
00097     virtual int deserialize(unsigned char *inbuffer)
00098     {
00099       int offset = 0;
00100       offset += this->header.deserialize(inbuffer + offset);
00101       offset += this->status.deserialize(inbuffer + offset);
00102       uint32_t * val_latitude = (uint32_t*) &(this->latitude);
00103       offset += 3;
00104       *val_latitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00105       *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00106       *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00107       *val_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00108       uint32_t exp_latitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00109       exp_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00110       if(exp_latitude !=0)
00111         *val_latitude |= ((exp_latitude)-1023+127)<<23;
00112       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->latitude = -this->latitude;
00113       uint32_t * val_longitude = (uint32_t*) &(this->longitude);
00114       offset += 3;
00115       *val_longitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00116       *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00117       *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00118       *val_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00119       uint32_t exp_longitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00120       exp_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00121       if(exp_longitude !=0)
00122         *val_longitude |= ((exp_longitude)-1023+127)<<23;
00123       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->longitude = -this->longitude;
00124       uint32_t * val_altitude = (uint32_t*) &(this->altitude);
00125       offset += 3;
00126       *val_altitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00127       *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00128       *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00129       *val_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00130       uint32_t exp_altitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00131       exp_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00132       if(exp_altitude !=0)
00133         *val_altitude |= ((exp_altitude)-1023+127)<<23;
00134       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->altitude = -this->altitude;
00135       for( uint8_t i = 0; i < 9; i++){
00136       uint32_t * val_position_covariancei = (uint32_t*) &(this->position_covariance[i]);
00137       offset += 3;
00138       *val_position_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00139       *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00140       *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00141       *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00142       uint32_t exp_position_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00143       exp_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00144       if(exp_position_covariancei !=0)
00145         *val_position_covariancei |= ((exp_position_covariancei)-1023+127)<<23;
00146       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position_covariance[i] = -this->position_covariance[i];
00147       }
00148       this->position_covariance_type =  ((uint8_t) (*(inbuffer + offset)));
00149       offset += sizeof(this->position_covariance_type);
00150      return offset;
00151     }
00152 
00153     const char * getType(){ return "sensor_msgs/NavSatFix"; };
00154     const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
00155 
00156   };
00157 
00158 }
00159 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Thu Aug 27 2015 14:39:50