Go to the documentation of this file.00001 #ifndef _ROS_geometry_msgs_PoseWithCovariance_h
00002 #define _ROS_geometry_msgs_PoseWithCovariance_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "geometry_msgs/Pose.h"
00009
00010 namespace geometry_msgs
00011 {
00012
00013 class PoseWithCovariance : public ros::Msg
00014 {
00015 public:
00016 geometry_msgs::Pose pose;
00017 float covariance[36];
00018
00019 virtual int serialize(unsigned char *outbuffer) const
00020 {
00021 int offset = 0;
00022 offset += this->pose.serialize(outbuffer + offset);
00023 for( uint8_t i = 0; i < 36; i++){
00024 int32_t * val_covariancei = (int32_t *) &(this->covariance[i]);
00025 int32_t exp_covariancei = (((*val_covariancei)>>23)&255);
00026 if(exp_covariancei != 0)
00027 exp_covariancei += 1023-127;
00028 int32_t sig_covariancei = *val_covariancei;
00029 *(outbuffer + offset++) = 0;
00030 *(outbuffer + offset++) = 0;
00031 *(outbuffer + offset++) = 0;
00032 *(outbuffer + offset++) = (sig_covariancei<<5) & 0xff;
00033 *(outbuffer + offset++) = (sig_covariancei>>3) & 0xff;
00034 *(outbuffer + offset++) = (sig_covariancei>>11) & 0xff;
00035 *(outbuffer + offset++) = ((exp_covariancei<<4) & 0xF0) | ((sig_covariancei>>19)&0x0F);
00036 *(outbuffer + offset++) = (exp_covariancei>>4) & 0x7F;
00037 if(this->covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00038 }
00039 return offset;
00040 }
00041
00042 virtual int deserialize(unsigned char *inbuffer)
00043 {
00044 int offset = 0;
00045 offset += this->pose.deserialize(inbuffer + offset);
00046 for( uint8_t i = 0; i < 36; i++){
00047 uint32_t * val_covariancei = (uint32_t*) &(this->covariance[i]);
00048 offset += 3;
00049 *val_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00050 *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00051 *val_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00052 *val_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00053 uint32_t exp_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00054 exp_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00055 if(exp_covariancei !=0)
00056 *val_covariancei |= ((exp_covariancei)-1023+127)<<23;
00057 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->covariance[i] = -this->covariance[i];
00058 }
00059 return offset;
00060 }
00061
00062 const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
00063 const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
00064
00065 };
00066
00067 }
00068 #endif