Diff: octomap_msgs/Octomap.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/octomap_msgs/Octomap.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,113 @@
+#ifndef _ROS_octomap_msgs_Octomap_h
+#define _ROS_octomap_msgs_Octomap_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace octomap_msgs
+{
+
+  class Octomap : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      bool binary;
+      const char* id;
+      float resolution;
+      uint8_t data_length;
+      int8_t st_data;
+      int8_t * data;
+
+    Octomap():
+      header(),
+      binary(0),
+      id(""),
+      resolution(0),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_binary;
+      u_binary.real = this->binary;
+      *(outbuffer + offset + 0) = (u_binary.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->binary);
+      uint32_t length_id = strlen(this->id);
+      memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      offset += serializeAvrFloat64(outbuffer + offset, this->resolution);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_binary;
+      u_binary.base = 0;
+      u_binary.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->binary = u_binary.real;
+      offset += sizeof(this->binary);
+      uint32_t length_id;
+      memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->resolution));
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "octomap_msgs/Octomap"; };
+    const char * getMD5(){ return "9a45536b45c5e409cd49f04bb2d9999f"; };
+
+  };
+
+}
+#endif