SimpleOccupancyGrid.h

00001 #ifndef _ROS_jsk_recognition_msgs_SimpleOccupancyGrid_h
00002 #define _ROS_jsk_recognition_msgs_SimpleOccupancyGrid_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 #include "geometry_msgs/Point.h"
00010 
00011 namespace jsk_recognition_msgs
00012 {
00013 
00014   class SimpleOccupancyGrid : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       float coefficients[4];
00020       typedef float _resolution_type;
00021       _resolution_type resolution;
00022       uint32_t cells_length;
00023       typedef geometry_msgs::Point _cells_type;
00024       _cells_type st_cells;
00025       _cells_type * cells;
00026 
00027     SimpleOccupancyGrid():
00028       header(),
00029       coefficients(),
00030       resolution(0),
00031       cells_length(0), cells(NULL)
00032     {
00033     }
00034 
00035     virtual int serialize(unsigned char *outbuffer) const
00036     {
00037       int offset = 0;
00038       offset += this->header.serialize(outbuffer + offset);
00039       for( uint32_t i = 0; i < 4; i++){
00040       union {
00041         float real;
00042         uint32_t base;
00043       } u_coefficientsi;
00044       u_coefficientsi.real = this->coefficients[i];
00045       *(outbuffer + offset + 0) = (u_coefficientsi.base >> (8 * 0)) & 0xFF;
00046       *(outbuffer + offset + 1) = (u_coefficientsi.base >> (8 * 1)) & 0xFF;
00047       *(outbuffer + offset + 2) = (u_coefficientsi.base >> (8 * 2)) & 0xFF;
00048       *(outbuffer + offset + 3) = (u_coefficientsi.base >> (8 * 3)) & 0xFF;
00049       offset += sizeof(this->coefficients[i]);
00050       }
00051       union {
00052         float real;
00053         uint32_t base;
00054       } u_resolution;
00055       u_resolution.real = this->resolution;
00056       *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
00057       *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
00058       *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
00059       *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
00060       offset += sizeof(this->resolution);
00061       *(outbuffer + offset + 0) = (this->cells_length >> (8 * 0)) & 0xFF;
00062       *(outbuffer + offset + 1) = (this->cells_length >> (8 * 1)) & 0xFF;
00063       *(outbuffer + offset + 2) = (this->cells_length >> (8 * 2)) & 0xFF;
00064       *(outbuffer + offset + 3) = (this->cells_length >> (8 * 3)) & 0xFF;
00065       offset += sizeof(this->cells_length);
00066       for( uint32_t i = 0; i < cells_length; i++){
00067       offset += this->cells[i].serialize(outbuffer + offset);
00068       }
00069       return offset;
00070     }
00071 
00072     virtual int deserialize(unsigned char *inbuffer)
00073     {
00074       int offset = 0;
00075       offset += this->header.deserialize(inbuffer + offset);
00076       for( uint32_t i = 0; i < 4; i++){
00077       union {
00078         float real;
00079         uint32_t base;
00080       } u_coefficientsi;
00081       u_coefficientsi.base = 0;
00082       u_coefficientsi.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00083       u_coefficientsi.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00084       u_coefficientsi.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00085       u_coefficientsi.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00086       this->coefficients[i] = u_coefficientsi.real;
00087       offset += sizeof(this->coefficients[i]);
00088       }
00089       union {
00090         float real;
00091         uint32_t base;
00092       } u_resolution;
00093       u_resolution.base = 0;
00094       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00095       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00096       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00097       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00098       this->resolution = u_resolution.real;
00099       offset += sizeof(this->resolution);
00100       uint32_t cells_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00101       cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00102       cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00103       cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00104       offset += sizeof(this->cells_length);
00105       if(cells_lengthT > cells_length)
00106         this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
00107       cells_length = cells_lengthT;
00108       for( uint32_t i = 0; i < cells_length; i++){
00109       offset += this->st_cells.deserialize(inbuffer + offset);
00110         memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
00111       }
00112      return offset;
00113     }
00114 
00115     virtual const char * getType(){ return "jsk_recognition_msgs/SimpleOccupancyGrid"; };
00116     virtual const char * getMD5(){ return "25fb4ce5a31aab052ba1250fcdda9da7"; };
00117 
00118   };
00119 
00120 }
00121 #endif