GridCells.h

00001 #ifndef _ROS_nav_msgs_GridCells_h
00002 #define _ROS_nav_msgs_GridCells_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 nav_msgs
00012 {
00013 
00014   class GridCells : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       typedef float _cell_width_type;
00020       _cell_width_type cell_width;
00021       typedef float _cell_height_type;
00022       _cell_height_type cell_height;
00023       uint32_t cells_length;
00024       typedef geometry_msgs::Point _cells_type;
00025       _cells_type st_cells;
00026       _cells_type * cells;
00027 
00028     GridCells():
00029       header(),
00030       cell_width(0),
00031       cell_height(0),
00032       cells_length(0), cells(NULL)
00033     {
00034     }
00035 
00036     virtual int serialize(unsigned char *outbuffer) const
00037     {
00038       int offset = 0;
00039       offset += this->header.serialize(outbuffer + offset);
00040       union {
00041         float real;
00042         uint32_t base;
00043       } u_cell_width;
00044       u_cell_width.real = this->cell_width;
00045       *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
00046       *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
00047       *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
00048       *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
00049       offset += sizeof(this->cell_width);
00050       union {
00051         float real;
00052         uint32_t base;
00053       } u_cell_height;
00054       u_cell_height.real = this->cell_height;
00055       *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
00056       *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
00057       *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
00058       *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
00059       offset += sizeof(this->cell_height);
00060       *(outbuffer + offset + 0) = (this->cells_length >> (8 * 0)) & 0xFF;
00061       *(outbuffer + offset + 1) = (this->cells_length >> (8 * 1)) & 0xFF;
00062       *(outbuffer + offset + 2) = (this->cells_length >> (8 * 2)) & 0xFF;
00063       *(outbuffer + offset + 3) = (this->cells_length >> (8 * 3)) & 0xFF;
00064       offset += sizeof(this->cells_length);
00065       for( uint32_t i = 0; i < cells_length; i++){
00066       offset += this->cells[i].serialize(outbuffer + offset);
00067       }
00068       return offset;
00069     }
00070 
00071     virtual int deserialize(unsigned char *inbuffer)
00072     {
00073       int offset = 0;
00074       offset += this->header.deserialize(inbuffer + offset);
00075       union {
00076         float real;
00077         uint32_t base;
00078       } u_cell_width;
00079       u_cell_width.base = 0;
00080       u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00081       u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00082       u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00083       u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00084       this->cell_width = u_cell_width.real;
00085       offset += sizeof(this->cell_width);
00086       union {
00087         float real;
00088         uint32_t base;
00089       } u_cell_height;
00090       u_cell_height.base = 0;
00091       u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00092       u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00093       u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00094       u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00095       this->cell_height = u_cell_height.real;
00096       offset += sizeof(this->cell_height);
00097       uint32_t cells_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00098       cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00099       cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00100       cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00101       offset += sizeof(this->cells_length);
00102       if(cells_lengthT > cells_length)
00103         this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
00104       cells_length = cells_lengthT;
00105       for( uint32_t i = 0; i < cells_length; i++){
00106       offset += this->st_cells.deserialize(inbuffer + offset);
00107         memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
00108       }
00109      return offset;
00110     }
00111 
00112     const char * getType(){ return "nav_msgs/GridCells"; };
00113     const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
00114 
00115   };
00116 
00117 }
00118 #endif