Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/nav_msgs/SetMap.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_SERVICE_SetMap_h
scarter1 0:020db18a476d 2 #define _ROS_SERVICE_SetMap_h
scarter1 0:020db18a476d 3 #include <stdint.h>
scarter1 0:020db18a476d 4 #include <string.h>
scarter1 0:020db18a476d 5 #include <stdlib.h>
scarter1 0:020db18a476d 6 #include "ros/msg.h"
scarter1 0:020db18a476d 7 #include "nav_msgs/OccupancyGrid.h"
scarter1 0:020db18a476d 8 #include "geometry_msgs/PoseWithCovarianceStamped.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace nav_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 static const char SETMAP[] = "nav_msgs/SetMap";
scarter1 0:020db18a476d 14
scarter1 0:020db18a476d 15 class SetMapRequest : public ros::Msg
scarter1 0:020db18a476d 16 {
scarter1 0:020db18a476d 17 public:
scarter1 0:020db18a476d 18 typedef nav_msgs::OccupancyGrid _map_type;
scarter1 0:020db18a476d 19 _map_type map;
scarter1 0:020db18a476d 20 typedef geometry_msgs::PoseWithCovarianceStamped _initial_pose_type;
scarter1 0:020db18a476d 21 _initial_pose_type initial_pose;
scarter1 0:020db18a476d 22
scarter1 0:020db18a476d 23 SetMapRequest():
scarter1 0:020db18a476d 24 map(),
scarter1 0:020db18a476d 25 initial_pose()
scarter1 0:020db18a476d 26 {
scarter1 0:020db18a476d 27 }
scarter1 0:020db18a476d 28
scarter1 0:020db18a476d 29 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 30 {
scarter1 0:020db18a476d 31 int offset = 0;
scarter1 0:020db18a476d 32 offset += this->map.serialize(outbuffer + offset);
scarter1 0:020db18a476d 33 offset += this->initial_pose.serialize(outbuffer + offset);
scarter1 0:020db18a476d 34 return offset;
scarter1 0:020db18a476d 35 }
scarter1 0:020db18a476d 36
scarter1 0:020db18a476d 37 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 38 {
scarter1 0:020db18a476d 39 int offset = 0;
scarter1 0:020db18a476d 40 offset += this->map.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 41 offset += this->initial_pose.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 42 return offset;
scarter1 0:020db18a476d 43 }
scarter1 0:020db18a476d 44
scarter1 0:020db18a476d 45 const char * getType(){ return SETMAP; };
scarter1 0:020db18a476d 46 const char * getMD5(){ return "91149a20d7be299b87c340df8cc94fd4"; };
scarter1 0:020db18a476d 47
scarter1 0:020db18a476d 48 };
scarter1 0:020db18a476d 49
scarter1 0:020db18a476d 50 class SetMapResponse : public ros::Msg
scarter1 0:020db18a476d 51 {
scarter1 0:020db18a476d 52 public:
scarter1 0:020db18a476d 53 typedef bool _success_type;
scarter1 0:020db18a476d 54 _success_type success;
scarter1 0:020db18a476d 55
scarter1 0:020db18a476d 56 SetMapResponse():
scarter1 0:020db18a476d 57 success(0)
scarter1 0:020db18a476d 58 {
scarter1 0:020db18a476d 59 }
scarter1 0:020db18a476d 60
scarter1 0:020db18a476d 61 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 62 {
scarter1 0:020db18a476d 63 int offset = 0;
scarter1 0:020db18a476d 64 union {
scarter1 0:020db18a476d 65 bool real;
scarter1 0:020db18a476d 66 uint8_t base;
scarter1 0:020db18a476d 67 } u_success;
scarter1 0:020db18a476d 68 u_success.real = this->success;
scarter1 0:020db18a476d 69 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 70 offset += sizeof(this->success);
scarter1 0:020db18a476d 71 return offset;
scarter1 0:020db18a476d 72 }
scarter1 0:020db18a476d 73
scarter1 0:020db18a476d 74 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 75 {
scarter1 0:020db18a476d 76 int offset = 0;
scarter1 0:020db18a476d 77 union {
scarter1 0:020db18a476d 78 bool real;
scarter1 0:020db18a476d 79 uint8_t base;
scarter1 0:020db18a476d 80 } u_success;
scarter1 0:020db18a476d 81 u_success.base = 0;
scarter1 0:020db18a476d 82 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 83 this->success = u_success.real;
scarter1 0:020db18a476d 84 offset += sizeof(this->success);
scarter1 0:020db18a476d 85 return offset;
scarter1 0:020db18a476d 86 }
scarter1 0:020db18a476d 87
scarter1 0:020db18a476d 88 const char * getType(){ return SETMAP; };
scarter1 0:020db18a476d 89 const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
scarter1 0:020db18a476d 90
scarter1 0:020db18a476d 91 };
scarter1 0:020db18a476d 92
scarter1 0:020db18a476d 93 class SetMap {
scarter1 0:020db18a476d 94 public:
scarter1 0:020db18a476d 95 typedef SetMapRequest Request;
scarter1 0:020db18a476d 96 typedef SetMapResponse Response;
scarter1 0:020db18a476d 97 };
scarter1 0:020db18a476d 98
scarter1 0:020db18a476d 99 }
scarter1 0:020db18a476d 100 #endif