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 for( uint8_t i = 0; i < 4; i++){
00021 int32_t * val_coefi = (int32_t *) &(this->coef[i]);
00022 int32_t exp_coefi = (((*val_coefi)>>23)&255);
00023 if(exp_coefi != 0)
00024 exp_coefi += 1023-127;
00025 int32_t sig_coefi = *val_coefi;
00026 *(outbuffer + offset++) = 0;
00027 *(outbuffer + offset++) = 0;
00028 *(outbuffer + offset++) = 0;
00029 *(outbuffer + offset++) = (sig_coefi<<5) & 0xff;
00030 *(outbuffer + offset++) = (sig_coefi>>3) & 0xff;
00031 *(outbuffer + offset++) = (sig_coefi>>11) & 0xff;
00032 *(outbuffer + offset++) = ((exp_coefi<<4) & 0xF0) | ((sig_coefi>>19)&0x0F);
00033 *(outbuffer + offset++) = (exp_coefi>>4) & 0x7F;
00034 if(this->coef[i] < 0) *(outbuffer + offset -1) |= 0x80;
00035 }
00036 return offset;
00037 }
00038
00039 virtual int deserialize(unsigned char *inbuffer)
00040 {
00041 int offset = 0;
00042 for( uint8_t i = 0; i < 4; i++){
00043 uint32_t * val_coefi = (uint32_t*) &(this->coef[i]);
00044 offset += 3;
00045 *val_coefi = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00046 *val_coefi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00047 *val_coefi |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00048 *val_coefi |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00049 uint32_t exp_coefi = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00050 exp_coefi |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00051 if(exp_coefi !=0)
00052 *val_coefi |= ((exp_coefi)-1023+127)<<23;
00053 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->coef[i] = -this->coef[i];
00054 }
00055 return offset;
00056 }
00057
00058 const char * getType(){ return "shape_msgs/Plane"; };
00059 const char * getMD5(){ return "2c1b92ed8f31492f8e73f6a4a44ca796"; };
00060
00061 };
00062
00063 }
00064 #endif