Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

nav_msgs/OccupancyGrid.h@3:d7bea56ad88b, 2020-03-30 (annotated)

Committer:
Anaph
Date:
Mon Mar 30 22:15:01 2020 +0000
Revision:
3:d7bea56ad88b
Parent:
0:9e9b7db60fd5 
No description

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_nav_msgs_OccupancyGrid_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_nav_msgs_OccupancyGrid_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "nav_msgs/MapMetaData.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace nav_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class OccupancyGrid : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 typedef nav_msgs::MapMetaData _info_type;
garyservin 0:9e9b7db60fd5 20 _info_type info;
garyservin 0:9e9b7db60fd5 21 uint32_t data_length;
garyservin 0:9e9b7db60fd5 22 typedef int8_t _data_type;
garyservin 0:9e9b7db60fd5 23 _data_type st_data;
garyservin 0:9e9b7db60fd5 24 _data_type * data;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 OccupancyGrid():
garyservin 0:9e9b7db60fd5 27 header(),
garyservin 0:9e9b7db60fd5 28 info(),
garyservin 0:9e9b7db60fd5 29 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 30 {
garyservin 0:9e9b7db60fd5 31 }
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 34 {
garyservin 0:9e9b7db60fd5 35 int offset = 0;
garyservin 0:9e9b7db60fd5 36 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 37 offset += this->info.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 43 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 44 union {
garyservin 0:9e9b7db60fd5 45 int8_t real;
garyservin 0:9e9b7db60fd5 46 uint8_t base;
garyservin 0:9e9b7db60fd5 47 } u_datai;
garyservin 0:9e9b7db60fd5 48 u_datai.real = this->data[i];
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52 return offset;
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 int offset = 0;
garyservin 0:9e9b7db60fd5 58 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 59 offset += this->info.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 60 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 61 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 62 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 63 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 65 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 66 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
garyservin 0:9e9b7db60fd5 67 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 68 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 69 union {
garyservin 0:9e9b7db60fd5 70 int8_t real;
garyservin 0:9e9b7db60fd5 71 uint8_t base;
garyservin 0:9e9b7db60fd5 72 } u_st_data;
garyservin 0:9e9b7db60fd5 73 u_st_data.base = 0;
garyservin 0:9e9b7db60fd5 74 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 75 this->st_data = u_st_data.real;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 77 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 const char * getType(){ return "nav_msgs/OccupancyGrid"; };
garyservin 0:9e9b7db60fd5 83 const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 };
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 }
garyservin 0:9e9b7db60fd5 88 #endif