Octomap.h

00001 #ifndef _ROS_octomap_msgs_Octomap_h
00002 #define _ROS_octomap_msgs_Octomap_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace octomap_msgs
00011 {
00012 
00013   class Octomap : public ros::Msg
00014   {
00015     public:
00016       typedef std_msgs::Header _header_type;
00017       _header_type header;
00018       typedef bool _binary_type;
00019       _binary_type binary;
00020       typedef const char* _id_type;
00021       _id_type id;
00022       typedef double _resolution_type;
00023       _resolution_type resolution;
00024       uint32_t data_length;
00025       typedef int8_t _data_type;
00026       _data_type st_data;
00027       _data_type * data;
00028 
00029     Octomap():
00030       header(),
00031       binary(0),
00032       id(""),
00033       resolution(0),
00034       data_length(0), data(NULL)
00035     {
00036     }
00037 
00038     virtual int serialize(unsigned char *outbuffer) const
00039     {
00040       int offset = 0;
00041       offset += this->header.serialize(outbuffer + offset);
00042       union {
00043         bool real;
00044         uint8_t base;
00045       } u_binary;
00046       u_binary.real = this->binary;
00047       *(outbuffer + offset + 0) = (u_binary.base >> (8 * 0)) & 0xFF;
00048       offset += sizeof(this->binary);
00049       uint32_t length_id = strlen(this->id);
00050       varToArr(outbuffer + offset, length_id);
00051       offset += 4;
00052       memcpy(outbuffer + offset, this->id, length_id);
00053       offset += length_id;
00054       union {
00055         double real;
00056         uint64_t base;
00057       } u_resolution;
00058       u_resolution.real = this->resolution;
00059       *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
00060       *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
00061       *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
00062       *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
00063       *(outbuffer + offset + 4) = (u_resolution.base >> (8 * 4)) & 0xFF;
00064       *(outbuffer + offset + 5) = (u_resolution.base >> (8 * 5)) & 0xFF;
00065       *(outbuffer + offset + 6) = (u_resolution.base >> (8 * 6)) & 0xFF;
00066       *(outbuffer + offset + 7) = (u_resolution.base >> (8 * 7)) & 0xFF;
00067       offset += sizeof(this->resolution);
00068       *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
00069       *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
00070       *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
00071       *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
00072       offset += sizeof(this->data_length);
00073       for( uint32_t i = 0; i < data_length; i++){
00074       union {
00075         int8_t real;
00076         uint8_t base;
00077       } u_datai;
00078       u_datai.real = this->data[i];
00079       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00080       offset += sizeof(this->data[i]);
00081       }
00082       return offset;
00083     }
00084 
00085     virtual int deserialize(unsigned char *inbuffer)
00086     {
00087       int offset = 0;
00088       offset += this->header.deserialize(inbuffer + offset);
00089       union {
00090         bool real;
00091         uint8_t base;
00092       } u_binary;
00093       u_binary.base = 0;
00094       u_binary.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00095       this->binary = u_binary.real;
00096       offset += sizeof(this->binary);
00097       uint32_t length_id;
00098       arrToVar(length_id, (inbuffer + offset));
00099       offset += 4;
00100       for(unsigned int k= offset; k< offset+length_id; ++k){
00101           inbuffer[k-1]=inbuffer[k];
00102       }
00103       inbuffer[offset+length_id-1]=0;
00104       this->id = (char *)(inbuffer + offset-1);
00105       offset += length_id;
00106       union {
00107         double real;
00108         uint64_t base;
00109       } u_resolution;
00110       u_resolution.base = 0;
00111       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00112       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00113       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00114       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00115       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00116       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00117       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00118       u_resolution.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00119       this->resolution = u_resolution.real;
00120       offset += sizeof(this->resolution);
00121       uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00122       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00123       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00124       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00125       offset += sizeof(this->data_length);
00126       if(data_lengthT > data_length)
00127         this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
00128       data_length = data_lengthT;
00129       for( uint32_t i = 0; i < data_length; i++){
00130       union {
00131         int8_t real;
00132         uint8_t base;
00133       } u_st_data;
00134       u_st_data.base = 0;
00135       u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00136       this->st_data = u_st_data.real;
00137       offset += sizeof(this->st_data);
00138         memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
00139       }
00140      return offset;
00141     }
00142 
00143     virtual const char * getType(){ return "octomap_msgs/Octomap"; };
00144     virtual const char * getMD5(){ return "9a45536b45c5e409cd49f04bb2d9999f"; };
00145 
00146   };
00147 
00148 }
00149 #endif