ProjectedMap.h

00001 #ifndef _ROS_map_msgs_ProjectedMap_h
00002 #define _ROS_map_msgs_ProjectedMap_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "nav_msgs/OccupancyGrid.h"
00009 
00010 namespace map_msgs
00011 {
00012 
00013   class ProjectedMap : public ros::Msg
00014   {
00015     public:
00016       typedef nav_msgs::OccupancyGrid _map_type;
00017       _map_type map;
00018       typedef double _min_z_type;
00019       _min_z_type min_z;
00020       typedef double _max_z_type;
00021       _max_z_type max_z;
00022 
00023     ProjectedMap():
00024       map(),
00025       min_z(0),
00026       max_z(0)
00027     {
00028     }
00029 
00030     virtual int serialize(unsigned char *outbuffer) const
00031     {
00032       int offset = 0;
00033       offset += this->map.serialize(outbuffer + offset);
00034       union {
00035         double real;
00036         uint64_t base;
00037       } u_min_z;
00038       u_min_z.real = this->min_z;
00039       *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
00043       *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
00044       *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
00045       *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
00046       *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
00047       offset += sizeof(this->min_z);
00048       union {
00049         double real;
00050         uint64_t base;
00051       } u_max_z;
00052       u_max_z.real = this->max_z;
00053       *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
00054       *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
00055       *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
00056       *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
00057       *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
00058       *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
00059       *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
00060       *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
00061       offset += sizeof(this->max_z);
00062       return offset;
00063     }
00064 
00065     virtual int deserialize(unsigned char *inbuffer)
00066     {
00067       int offset = 0;
00068       offset += this->map.deserialize(inbuffer + offset);
00069       union {
00070         double real;
00071         uint64_t base;
00072       } u_min_z;
00073       u_min_z.base = 0;
00074       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00075       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00076       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00077       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00078       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00079       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00080       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00081       u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00082       this->min_z = u_min_z.real;
00083       offset += sizeof(this->min_z);
00084       union {
00085         double real;
00086         uint64_t base;
00087       } u_max_z;
00088       u_max_z.base = 0;
00089       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00090       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00091       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00092       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00093       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00094       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00095       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00096       u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00097       this->max_z = u_max_z.real;
00098       offset += sizeof(this->max_z);
00099      return offset;
00100     }
00101 
00102     const char * getType(){ return "map_msgs/ProjectedMap"; };
00103     const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };
00104 
00105   };
00106 
00107 }
00108 #endif