a
sensor_msgs/LaserScan.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_sensor_msgs_LaserScan_h #define _ROS_sensor_msgs_LaserScan_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs { class LaserScan : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef float _angle_min_type; _angle_min_type angle_min; typedef float _angle_max_type; _angle_max_type angle_max; typedef float _angle_increment_type; _angle_increment_type angle_increment; typedef float _time_increment_type; _time_increment_type time_increment; typedef float _scan_time_type; _scan_time_type scan_time; typedef float _range_min_type; _range_min_type range_min; typedef float _range_max_type; _range_max_type range_max; uint32_t ranges_length; typedef float _ranges_type; _ranges_type st_ranges; _ranges_type * ranges; uint32_t intensities_length; typedef float _intensities_type; _intensities_type st_intensities; _intensities_type * intensities; LaserScan(): header(), angle_min(0), angle_max(0), angle_increment(0), time_increment(0), scan_time(0), range_min(0), range_max(0), ranges_length(0), ranges(NULL), intensities_length(0), intensities(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); union { float real; uint32_t base; } u_angle_min; u_angle_min.real = this->angle_min; *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angle_min); union { float real; uint32_t base; } u_angle_max; u_angle_max.real = this->angle_max; *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angle_max); union { float real; uint32_t base; } u_angle_increment; u_angle_increment.real = this->angle_increment; *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF; offset += sizeof(this->angle_increment); union { float real; uint32_t base; } u_time_increment; u_time_increment.real = this->time_increment; *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF; offset += sizeof(this->time_increment); union { float real; uint32_t base; } u_scan_time; u_scan_time.real = this->scan_time; *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF; offset += sizeof(this->scan_time); union { float real; uint32_t base; } u_range_min; u_range_min.real = this->range_min; *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF; offset += sizeof(this->range_min); union { float real; uint32_t base; } u_range_max; u_range_max.real = this->range_max; *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF; offset += sizeof(this->range_max); *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF; offset += sizeof(this->ranges_length); for( uint32_t i = 0; i < ranges_length; i++){ union { float real; uint32_t base; } u_rangesi; u_rangesi.real = this->ranges[i]; *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF; offset += sizeof(this->ranges[i]); } *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF; offset += sizeof(this->intensities_length); for( uint32_t i = 0; i < intensities_length; i++){ union { float real; uint32_t base; } u_intensitiesi; u_intensitiesi.real = this->intensities[i]; *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF; offset += sizeof(this->intensities[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); union { float real; uint32_t base; } u_angle_min; u_angle_min.base = 0; u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angle_min = u_angle_min.real; offset += sizeof(this->angle_min); union { float real; uint32_t base; } u_angle_max; u_angle_max.base = 0; u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angle_max = u_angle_max.real; offset += sizeof(this->angle_max); union { float real; uint32_t base; } u_angle_increment; u_angle_increment.base = 0; u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->angle_increment = u_angle_increment.real; offset += sizeof(this->angle_increment); union { float real; uint32_t base; } u_time_increment; u_time_increment.base = 0; u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->time_increment = u_time_increment.real; offset += sizeof(this->time_increment); union { float real; uint32_t base; } u_scan_time; u_scan_time.base = 0; u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->scan_time = u_scan_time.real; offset += sizeof(this->scan_time); union { float real; uint32_t base; } u_range_min; u_range_min.base = 0; u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->range_min = u_range_min.real; offset += sizeof(this->range_min); union { float real; uint32_t base; } u_range_max; u_range_max.base = 0; u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->range_max = u_range_max.real; offset += sizeof(this->range_max); uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset))); ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->ranges_length); if(ranges_lengthT > ranges_length) this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float)); ranges_length = ranges_lengthT; for( uint32_t i = 0; i < ranges_length; i++){ union { float real; uint32_t base; } u_st_ranges; u_st_ranges.base = 0; u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->st_ranges = u_st_ranges.real; offset += sizeof(this->st_ranges); memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float)); } uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset))); intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->intensities_length); if(intensities_lengthT > intensities_length) this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float)); intensities_length = intensities_lengthT; for( uint32_t i = 0; i < intensities_length; i++){ union { float real; uint32_t base; } u_st_intensities; u_st_intensities.base = 0; u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->st_intensities = u_st_intensities.real; offset += sizeof(this->st_intensities); memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float)); } return offset; } const char * getType(){ return "sensor_msgs/LaserScan"; }; const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; }; }; } #endif