Diff: costmap_2d/VoxelGrid.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/costmap_2d/VoxelGrid.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,117 @@
+#ifndef _ROS_costmap_2d_VoxelGrid_h
+#define _ROS_costmap_2d_VoxelGrid_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point32.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace costmap_2d
+{
+
+  class VoxelGrid : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t data_length;
+      uint32_t st_data;
+      uint32_t * data;
+      geometry_msgs::Point32 origin;
+      geometry_msgs::Vector3 resolutions;
+      uint32_t size_x;
+      uint32_t size_y;
+      uint32_t size_z;
+
+    VoxelGrid():
+      header(),
+      data_length(0), data(NULL),
+      origin(),
+      resolutions(),
+      size_x(0),
+      size_y(0),
+      size_z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data[i] >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data[i] >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      offset += this->origin.serialize(outbuffer + offset);
+      offset += this->resolutions.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->size_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->size_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->size_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->size_x >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->size_x);
+      *(outbuffer + offset + 0) = (this->size_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->size_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->size_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->size_y >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->size_y);
+      *(outbuffer + offset + 0) = (this->size_z >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->size_z >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->size_z >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->size_z >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->size_z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint32_t*)realloc(this->data, data_lengthT * sizeof(uint32_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint32_t) (*(inbuffer + offset)));
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint32_t));
+      }
+      offset += this->origin.deserialize(inbuffer + offset);
+      offset += this->resolutions.deserialize(inbuffer + offset);
+      this->size_x =  ((uint32_t) (*(inbuffer + offset)));
+      this->size_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->size_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->size_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->size_x);
+      this->size_y =  ((uint32_t) (*(inbuffer + offset)));
+      this->size_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->size_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->size_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->size_y);
+      this->size_z =  ((uint32_t) (*(inbuffer + offset)));
+      this->size_z |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->size_z |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->size_z |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->size_z);
+     return offset;
+    }
+
+    const char * getType(){ return "costmap_2d/VoxelGrid"; };
+    const char * getMD5(){ return "48a040827e1322073d78ece5a497029c"; };
+
+  };
+
+}
+#endif