SparseOccupancyGrid.h

00001 #ifndef _ROS_jsk_recognition_msgs_SparseOccupancyGrid_h
00002 #define _ROS_jsk_recognition_msgs_SparseOccupancyGrid_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/Pose.h"
00010 #include "jsk_recognition_msgs/SparseOccupancyGridColumn.h"
00011 
00012 namespace jsk_recognition_msgs
00013 {
00014 
00015   class SparseOccupancyGrid : public ros::Msg
00016   {
00017     public:
00018       typedef std_msgs::Header _header_type;
00019       _header_type header;
00020       typedef geometry_msgs::Pose _origin_pose_type;
00021       _origin_pose_type origin_pose;
00022       typedef float _resolution_type;
00023       _resolution_type resolution;
00024       uint32_t columns_length;
00025       typedef jsk_recognition_msgs::SparseOccupancyGridColumn _columns_type;
00026       _columns_type st_columns;
00027       _columns_type * columns;
00028 
00029     SparseOccupancyGrid():
00030       header(),
00031       origin_pose(),
00032       resolution(0),
00033       columns_length(0), columns(NULL)
00034     {
00035     }
00036 
00037     virtual int serialize(unsigned char *outbuffer) const
00038     {
00039       int offset = 0;
00040       offset += this->header.serialize(outbuffer + offset);
00041       offset += this->origin_pose.serialize(outbuffer + offset);
00042       union {
00043         float real;
00044         uint32_t base;
00045       } u_resolution;
00046       u_resolution.real = this->resolution;
00047       *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
00048       *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
00049       *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
00050       *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
00051       offset += sizeof(this->resolution);
00052       *(outbuffer + offset + 0) = (this->columns_length >> (8 * 0)) & 0xFF;
00053       *(outbuffer + offset + 1) = (this->columns_length >> (8 * 1)) & 0xFF;
00054       *(outbuffer + offset + 2) = (this->columns_length >> (8 * 2)) & 0xFF;
00055       *(outbuffer + offset + 3) = (this->columns_length >> (8 * 3)) & 0xFF;
00056       offset += sizeof(this->columns_length);
00057       for( uint32_t i = 0; i < columns_length; i++){
00058       offset += this->columns[i].serialize(outbuffer + offset);
00059       }
00060       return offset;
00061     }
00062 
00063     virtual int deserialize(unsigned char *inbuffer)
00064     {
00065       int offset = 0;
00066       offset += this->header.deserialize(inbuffer + offset);
00067       offset += this->origin_pose.deserialize(inbuffer + offset);
00068       union {
00069         float real;
00070         uint32_t base;
00071       } u_resolution;
00072       u_resolution.base = 0;
00073       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00074       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00075       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00076       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00077       this->resolution = u_resolution.real;
00078       offset += sizeof(this->resolution);
00079       uint32_t columns_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00080       columns_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00081       columns_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00082       columns_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00083       offset += sizeof(this->columns_length);
00084       if(columns_lengthT > columns_length)
00085         this->columns = (jsk_recognition_msgs::SparseOccupancyGridColumn*)realloc(this->columns, columns_lengthT * sizeof(jsk_recognition_msgs::SparseOccupancyGridColumn));
00086       columns_length = columns_lengthT;
00087       for( uint32_t i = 0; i < columns_length; i++){
00088       offset += this->st_columns.deserialize(inbuffer + offset);
00089         memcpy( &(this->columns[i]), &(this->st_columns), sizeof(jsk_recognition_msgs::SparseOccupancyGridColumn));
00090       }
00091      return offset;
00092     }
00093 
00094     virtual const char * getType(){ return "jsk_recognition_msgs/SparseOccupancyGrid"; };
00095     virtual const char * getMD5(){ return "497269ddab6058d0d4860f25dc49448f"; };
00096 
00097   };
00098 
00099 }
00100 #endif