Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/map_msgs/ProjectedMap.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_map_msgs_ProjectedMap_h
scarter1 0:020db18a476d 2 #define _ROS_map_msgs_ProjectedMap_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8 #include "nav_msgs/OccupancyGrid.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace map_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class ProjectedMap : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef nav_msgs::OccupancyGrid _map_type;
scarter1 0:020db18a476d 17 _map_type map;
scarter1 0:020db18a476d 18 typedef double _min_z_type;
scarter1 0:020db18a476d 19 _min_z_type min_z;
scarter1 0:020db18a476d 20 typedef double _max_z_type;
scarter1 0:020db18a476d 21 _max_z_type max_z;
scarter1 0:020db18a476d 22
scarter1 0:020db18a476d 23 ProjectedMap():
scarter1 0:020db18a476d 24 map(),
scarter1 0:020db18a476d 25 min_z(0),
scarter1 0:020db18a476d 26 max_z(0)
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 }
scarter1 0:020db18a476d 29
scarter1 0:020db18a476d 30 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 31 {
scarter1 0:020db18a476d 32 int offset = 0;
scarter1 0:020db18a476d 33 offset += this->map.serialize(outbuffer + offset);
scarter1 0:020db18a476d 34 union {
scarter1 0:020db18a476d 35 double real;
scarter1 0:020db18a476d 36 uint64_t base;
scarter1 0:020db18a476d 37 } u_min_z;
scarter1 0:020db18a476d 38 u_min_z.real = this->min_z;
scarter1 0:020db18a476d 39 *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 43 *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 47 offset += sizeof(this->min_z);
scarter1 0:020db18a476d 48 union {
scarter1 0:020db18a476d 49 double real;
scarter1 0:020db18a476d 50 uint64_t base;
scarter1 0:020db18a476d 51 } u_max_z;
scarter1 0:020db18a476d 52 u_max_z.real = this->max_z;
scarter1 0:020db18a476d 53 *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 54 *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 55 *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 56 *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 57 *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
scarter1 0:020db18a476d 58 *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
scarter1 0:020db18a476d 59 *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
scarter1 0:020db18a476d 60 *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
scarter1 0:020db18a476d 61 offset += sizeof(this->max_z);
scarter1 0:020db18a476d 62 return offset;
scarter1 0:020db18a476d 63 }
scarter1 0:020db18a476d 64
scarter1 0:020db18a476d 65 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 66 {
scarter1 0:020db18a476d 67 int offset = 0;
scarter1 0:020db18a476d 68 offset += this->map.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 69 union {
scarter1 0:020db18a476d 70 double real;
scarter1 0:020db18a476d 71 uint64_t base;
scarter1 0:020db18a476d 72 } u_min_z;
scarter1 0:020db18a476d 73 u_min_z.base = 0;
scarter1 0:020db18a476d 74 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 75 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 76 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 77 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 78 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 79 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 80 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 81 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 82 this->min_z = u_min_z.real;
scarter1 0:020db18a476d 83 offset += sizeof(this->min_z);
scarter1 0:020db18a476d 84 union {
scarter1 0:020db18a476d 85 double real;
scarter1 0:020db18a476d 86 uint64_t base;
scarter1 0:020db18a476d 87 } u_max_z;
scarter1 0:020db18a476d 88 u_max_z.base = 0;
scarter1 0:020db18a476d 89 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 90 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 91 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 92 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 93 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
scarter1 0:020db18a476d 94 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
scarter1 0:020db18a476d 95 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
scarter1 0:020db18a476d 96 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
scarter1 0:020db18a476d 97 this->max_z = u_max_z.real;
scarter1 0:020db18a476d 98 offset += sizeof(this->max_z);
scarter1 0:020db18a476d 99 return offset;
scarter1 0:020db18a476d 100 }
scarter1 0:020db18a476d 101
scarter1 0:020db18a476d 102 const char * getType(){ return "map_msgs/ProjectedMap"; };
scarter1 0:020db18a476d 103 const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };
scarter1 0:020db18a476d 104
scarter1 0:020db18a476d 105 };
scarter1 0:020db18a476d 106
scarter1 0:020db18a476d 107 }
scarter1 0:020db18a476d 108 #endif