Pipe Inpection Robot / Mbed OS capstone_finish

capstone_finish

Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/LaserScan.h@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_LaserScan_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_LaserScan_h
Jeonghoon 3:2a3664dc6634 3
Jeonghoon 3:2a3664dc6634 4 #include <stdint.h>
Jeonghoon 3:2a3664dc6634 5 #include <string.h>
Jeonghoon 3:2a3664dc6634 6 #include <stdlib.h>
Jeonghoon 3:2a3664dc6634 7 #include "ros/msg.h"
Jeonghoon 3:2a3664dc6634 8 #include "std_msgs/Header.h"
Jeonghoon 3:2a3664dc6634 9
Jeonghoon 3:2a3664dc6634 10 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 11 {
Jeonghoon 3:2a3664dc6634 12
Jeonghoon 3:2a3664dc6634 13 class LaserScan : public ros::Msg
Jeonghoon 3:2a3664dc6634 14 {
Jeonghoon 3:2a3664dc6634 15 public:
Jeonghoon 3:2a3664dc6634 16 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 17 _header_type header;
Jeonghoon 3:2a3664dc6634 18 typedef float _angle_min_type;
Jeonghoon 3:2a3664dc6634 19 _angle_min_type angle_min;
Jeonghoon 3:2a3664dc6634 20 typedef float _angle_max_type;
Jeonghoon 3:2a3664dc6634 21 _angle_max_type angle_max;
Jeonghoon 3:2a3664dc6634 22 typedef float _angle_increment_type;
Jeonghoon 3:2a3664dc6634 23 _angle_increment_type angle_increment;
Jeonghoon 3:2a3664dc6634 24 typedef float _time_increment_type;
Jeonghoon 3:2a3664dc6634 25 _time_increment_type time_increment;
Jeonghoon 3:2a3664dc6634 26 typedef float _scan_time_type;
Jeonghoon 3:2a3664dc6634 27 _scan_time_type scan_time;
Jeonghoon 3:2a3664dc6634 28 typedef float _range_min_type;
Jeonghoon 3:2a3664dc6634 29 _range_min_type range_min;
Jeonghoon 3:2a3664dc6634 30 typedef float _range_max_type;
Jeonghoon 3:2a3664dc6634 31 _range_max_type range_max;
Jeonghoon 3:2a3664dc6634 32 uint32_t ranges_length;
Jeonghoon 3:2a3664dc6634 33 typedef float _ranges_type;
Jeonghoon 3:2a3664dc6634 34 _ranges_type st_ranges;
Jeonghoon 3:2a3664dc6634 35 _ranges_type * ranges;
Jeonghoon 3:2a3664dc6634 36 uint32_t intensities_length;
Jeonghoon 3:2a3664dc6634 37 typedef float _intensities_type;
Jeonghoon 3:2a3664dc6634 38 _intensities_type st_intensities;
Jeonghoon 3:2a3664dc6634 39 _intensities_type * intensities;
Jeonghoon 3:2a3664dc6634 40
Jeonghoon 3:2a3664dc6634 41 LaserScan():
Jeonghoon 3:2a3664dc6634 42 header(),
Jeonghoon 3:2a3664dc6634 43 angle_min(0),
Jeonghoon 3:2a3664dc6634 44 angle_max(0),
Jeonghoon 3:2a3664dc6634 45 angle_increment(0),
Jeonghoon 3:2a3664dc6634 46 time_increment(0),
Jeonghoon 3:2a3664dc6634 47 scan_time(0),
Jeonghoon 3:2a3664dc6634 48 range_min(0),
Jeonghoon 3:2a3664dc6634 49 range_max(0),
Jeonghoon 3:2a3664dc6634 50 ranges_length(0), ranges(NULL),
Jeonghoon 3:2a3664dc6634 51 intensities_length(0), intensities(NULL)
Jeonghoon 3:2a3664dc6634 52 {
Jeonghoon 3:2a3664dc6634 53 }
Jeonghoon 3:2a3664dc6634 54
Jeonghoon 3:2a3664dc6634 55 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 56 {
Jeonghoon 3:2a3664dc6634 57 int offset = 0;
Jeonghoon 3:2a3664dc6634 58 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 59 union {
Jeonghoon 3:2a3664dc6634 60 float real;
Jeonghoon 3:2a3664dc6634 61 uint32_t base;
Jeonghoon 3:2a3664dc6634 62 } u_angle_min;
Jeonghoon 3:2a3664dc6634 63 u_angle_min.real = this->angle_min;
Jeonghoon 3:2a3664dc6634 64 *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 65 *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 66 *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 67 *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 68 offset += sizeof(this->angle_min);
Jeonghoon 3:2a3664dc6634 69 union {
Jeonghoon 3:2a3664dc6634 70 float real;
Jeonghoon 3:2a3664dc6634 71 uint32_t base;
Jeonghoon 3:2a3664dc6634 72 } u_angle_max;
Jeonghoon 3:2a3664dc6634 73 u_angle_max.real = this->angle_max;
Jeonghoon 3:2a3664dc6634 74 *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 75 *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 76 *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 77 *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 78 offset += sizeof(this->angle_max);
Jeonghoon 3:2a3664dc6634 79 union {
Jeonghoon 3:2a3664dc6634 80 float real;
Jeonghoon 3:2a3664dc6634 81 uint32_t base;
Jeonghoon 3:2a3664dc6634 82 } u_angle_increment;
Jeonghoon 3:2a3664dc6634 83 u_angle_increment.real = this->angle_increment;
Jeonghoon 3:2a3664dc6634 84 *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 85 *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 86 *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 87 *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 88 offset += sizeof(this->angle_increment);
Jeonghoon 3:2a3664dc6634 89 union {
Jeonghoon 3:2a3664dc6634 90 float real;
Jeonghoon 3:2a3664dc6634 91 uint32_t base;
Jeonghoon 3:2a3664dc6634 92 } u_time_increment;
Jeonghoon 3:2a3664dc6634 93 u_time_increment.real = this->time_increment;
Jeonghoon 3:2a3664dc6634 94 *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 95 *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 96 *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 97 *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 98 offset += sizeof(this->time_increment);
Jeonghoon 3:2a3664dc6634 99 union {
Jeonghoon 3:2a3664dc6634 100 float real;
Jeonghoon 3:2a3664dc6634 101 uint32_t base;
Jeonghoon 3:2a3664dc6634 102 } u_scan_time;
Jeonghoon 3:2a3664dc6634 103 u_scan_time.real = this->scan_time;
Jeonghoon 3:2a3664dc6634 104 *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 105 *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 106 *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 107 *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 108 offset += sizeof(this->scan_time);
Jeonghoon 3:2a3664dc6634 109 union {
Jeonghoon 3:2a3664dc6634 110 float real;
Jeonghoon 3:2a3664dc6634 111 uint32_t base;
Jeonghoon 3:2a3664dc6634 112 } u_range_min;
Jeonghoon 3:2a3664dc6634 113 u_range_min.real = this->range_min;
Jeonghoon 3:2a3664dc6634 114 *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 115 *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 116 *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 117 *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 118 offset += sizeof(this->range_min);
Jeonghoon 3:2a3664dc6634 119 union {
Jeonghoon 3:2a3664dc6634 120 float real;
Jeonghoon 3:2a3664dc6634 121 uint32_t base;
Jeonghoon 3:2a3664dc6634 122 } u_range_max;
Jeonghoon 3:2a3664dc6634 123 u_range_max.real = this->range_max;
Jeonghoon 3:2a3664dc6634 124 *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 125 *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 126 *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 127 *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 128 offset += sizeof(this->range_max);
Jeonghoon 3:2a3664dc6634 129 *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 130 *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 131 *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 132 *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 133 offset += sizeof(this->ranges_length);
Jeonghoon 3:2a3664dc6634 134 for( uint32_t i = 0; i < ranges_length; i++){
Jeonghoon 3:2a3664dc6634 135 union {
Jeonghoon 3:2a3664dc6634 136 float real;
Jeonghoon 3:2a3664dc6634 137 uint32_t base;
Jeonghoon 3:2a3664dc6634 138 } u_rangesi;
Jeonghoon 3:2a3664dc6634 139 u_rangesi.real = this->ranges[i];
Jeonghoon 3:2a3664dc6634 140 *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 141 *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 142 *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 143 *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 144 offset += sizeof(this->ranges[i]);
Jeonghoon 3:2a3664dc6634 145 }
Jeonghoon 3:2a3664dc6634 146 *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 147 *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 148 *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 149 *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 150 offset += sizeof(this->intensities_length);
Jeonghoon 3:2a3664dc6634 151 for( uint32_t i = 0; i < intensities_length; i++){
Jeonghoon 3:2a3664dc6634 152 union {
Jeonghoon 3:2a3664dc6634 153 float real;
Jeonghoon 3:2a3664dc6634 154 uint32_t base;
Jeonghoon 3:2a3664dc6634 155 } u_intensitiesi;
Jeonghoon 3:2a3664dc6634 156 u_intensitiesi.real = this->intensities[i];
Jeonghoon 3:2a3664dc6634 157 *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 158 *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 159 *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 160 *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 161 offset += sizeof(this->intensities[i]);
Jeonghoon 3:2a3664dc6634 162 }
Jeonghoon 3:2a3664dc6634 163 return offset;
Jeonghoon 3:2a3664dc6634 164 }
Jeonghoon 3:2a3664dc6634 165
Jeonghoon 3:2a3664dc6634 166 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 167 {
Jeonghoon 3:2a3664dc6634 168 int offset = 0;
Jeonghoon 3:2a3664dc6634 169 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 170 union {
Jeonghoon 3:2a3664dc6634 171 float real;
Jeonghoon 3:2a3664dc6634 172 uint32_t base;
Jeonghoon 3:2a3664dc6634 173 } u_angle_min;
Jeonghoon 3:2a3664dc6634 174 u_angle_min.base = 0;
Jeonghoon 3:2a3664dc6634 175 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 176 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 177 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 178 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 179 this->angle_min = u_angle_min.real;
Jeonghoon 3:2a3664dc6634 180 offset += sizeof(this->angle_min);
Jeonghoon 3:2a3664dc6634 181 union {
Jeonghoon 3:2a3664dc6634 182 float real;
Jeonghoon 3:2a3664dc6634 183 uint32_t base;
Jeonghoon 3:2a3664dc6634 184 } u_angle_max;
Jeonghoon 3:2a3664dc6634 185 u_angle_max.base = 0;
Jeonghoon 3:2a3664dc6634 186 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 187 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 188 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 189 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 190 this->angle_max = u_angle_max.real;
Jeonghoon 3:2a3664dc6634 191 offset += sizeof(this->angle_max);
Jeonghoon 3:2a3664dc6634 192 union {
Jeonghoon 3:2a3664dc6634 193 float real;
Jeonghoon 3:2a3664dc6634 194 uint32_t base;
Jeonghoon 3:2a3664dc6634 195 } u_angle_increment;
Jeonghoon 3:2a3664dc6634 196 u_angle_increment.base = 0;
Jeonghoon 3:2a3664dc6634 197 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 198 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 199 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 200 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 201 this->angle_increment = u_angle_increment.real;
Jeonghoon 3:2a3664dc6634 202 offset += sizeof(this->angle_increment);
Jeonghoon 3:2a3664dc6634 203 union {
Jeonghoon 3:2a3664dc6634 204 float real;
Jeonghoon 3:2a3664dc6634 205 uint32_t base;
Jeonghoon 3:2a3664dc6634 206 } u_time_increment;
Jeonghoon 3:2a3664dc6634 207 u_time_increment.base = 0;
Jeonghoon 3:2a3664dc6634 208 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 209 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 210 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 211 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 212 this->time_increment = u_time_increment.real;
Jeonghoon 3:2a3664dc6634 213 offset += sizeof(this->time_increment);
Jeonghoon 3:2a3664dc6634 214 union {
Jeonghoon 3:2a3664dc6634 215 float real;
Jeonghoon 3:2a3664dc6634 216 uint32_t base;
Jeonghoon 3:2a3664dc6634 217 } u_scan_time;
Jeonghoon 3:2a3664dc6634 218 u_scan_time.base = 0;
Jeonghoon 3:2a3664dc6634 219 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 220 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 221 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 222 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 223 this->scan_time = u_scan_time.real;
Jeonghoon 3:2a3664dc6634 224 offset += sizeof(this->scan_time);
Jeonghoon 3:2a3664dc6634 225 union {
Jeonghoon 3:2a3664dc6634 226 float real;
Jeonghoon 3:2a3664dc6634 227 uint32_t base;
Jeonghoon 3:2a3664dc6634 228 } u_range_min;
Jeonghoon 3:2a3664dc6634 229 u_range_min.base = 0;
Jeonghoon 3:2a3664dc6634 230 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 231 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 232 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 233 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 234 this->range_min = u_range_min.real;
Jeonghoon 3:2a3664dc6634 235 offset += sizeof(this->range_min);
Jeonghoon 3:2a3664dc6634 236 union {
Jeonghoon 3:2a3664dc6634 237 float real;
Jeonghoon 3:2a3664dc6634 238 uint32_t base;
Jeonghoon 3:2a3664dc6634 239 } u_range_max;
Jeonghoon 3:2a3664dc6634 240 u_range_max.base = 0;
Jeonghoon 3:2a3664dc6634 241 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 242 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 243 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 244 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 245 this->range_max = u_range_max.real;
Jeonghoon 3:2a3664dc6634 246 offset += sizeof(this->range_max);
Jeonghoon 3:2a3664dc6634 247 uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 248 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 249 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 250 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 251 offset += sizeof(this->ranges_length);
Jeonghoon 3:2a3664dc6634 252 if(ranges_lengthT > ranges_length)
Jeonghoon 3:2a3664dc6634 253 this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
Jeonghoon 3:2a3664dc6634 254 ranges_length = ranges_lengthT;
Jeonghoon 3:2a3664dc6634 255 for( uint32_t i = 0; i < ranges_length; i++){
Jeonghoon 3:2a3664dc6634 256 union {
Jeonghoon 3:2a3664dc6634 257 float real;
Jeonghoon 3:2a3664dc6634 258 uint32_t base;
Jeonghoon 3:2a3664dc6634 259 } u_st_ranges;
Jeonghoon 3:2a3664dc6634 260 u_st_ranges.base = 0;
Jeonghoon 3:2a3664dc6634 261 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 262 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 263 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 264 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 265 this->st_ranges = u_st_ranges.real;
Jeonghoon 3:2a3664dc6634 266 offset += sizeof(this->st_ranges);
Jeonghoon 3:2a3664dc6634 267 memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
Jeonghoon 3:2a3664dc6634 268 }
Jeonghoon 3:2a3664dc6634 269 uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 270 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 271 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 272 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 273 offset += sizeof(this->intensities_length);
Jeonghoon 3:2a3664dc6634 274 if(intensities_lengthT > intensities_length)
Jeonghoon 3:2a3664dc6634 275 this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
Jeonghoon 3:2a3664dc6634 276 intensities_length = intensities_lengthT;
Jeonghoon 3:2a3664dc6634 277 for( uint32_t i = 0; i < intensities_length; i++){
Jeonghoon 3:2a3664dc6634 278 union {
Jeonghoon 3:2a3664dc6634 279 float real;
Jeonghoon 3:2a3664dc6634 280 uint32_t base;
Jeonghoon 3:2a3664dc6634 281 } u_st_intensities;
Jeonghoon 3:2a3664dc6634 282 u_st_intensities.base = 0;
Jeonghoon 3:2a3664dc6634 283 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 284 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 285 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 286 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 287 this->st_intensities = u_st_intensities.real;
Jeonghoon 3:2a3664dc6634 288 offset += sizeof(this->st_intensities);
Jeonghoon 3:2a3664dc6634 289 memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
Jeonghoon 3:2a3664dc6634 290 }
Jeonghoon 3:2a3664dc6634 291 return offset;
Jeonghoon 3:2a3664dc6634 292 }
Jeonghoon 3:2a3664dc6634 293
Jeonghoon 3:2a3664dc6634 294 const char * getType(){ return "sensor_msgs/LaserScan"; };
Jeonghoon 3:2a3664dc6634 295 const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
Jeonghoon 3:2a3664dc6634 296
Jeonghoon 3:2a3664dc6634 297 };
Jeonghoon 3:2a3664dc6634 298
Jeonghoon 3:2a3664dc6634 299 }
Jeonghoon 3:2a3664dc6634 300 #endif