MapMetaData.h

00001 #ifndef _ROS_nav_msgs_MapMetaData_h
00002 #define _ROS_nav_msgs_MapMetaData_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "ros/time.h"
00009 #include "geometry_msgs/Pose.h"
00010 
00011 namespace nav_msgs
00012 {
00013 
00014   class MapMetaData : public ros::Msg
00015   {
00016     public:
00017       ros::Time map_load_time;
00018       float resolution;
00019       uint32_t width;
00020       uint32_t height;
00021       geometry_msgs::Pose origin;
00022 
00023     MapMetaData():
00024       map_load_time(),
00025       resolution(0),
00026       width(0),
00027       height(0),
00028       origin()
00029     {
00030     }
00031 
00032     virtual int serialize(unsigned char *outbuffer) const
00033     {
00034       int offset = 0;
00035       *(outbuffer + offset + 0) = (this->map_load_time.sec >> (8 * 0)) & 0xFF;
00036       *(outbuffer + offset + 1) = (this->map_load_time.sec >> (8 * 1)) & 0xFF;
00037       *(outbuffer + offset + 2) = (this->map_load_time.sec >> (8 * 2)) & 0xFF;
00038       *(outbuffer + offset + 3) = (this->map_load_time.sec >> (8 * 3)) & 0xFF;
00039       offset += sizeof(this->map_load_time.sec);
00040       *(outbuffer + offset + 0) = (this->map_load_time.nsec >> (8 * 0)) & 0xFF;
00041       *(outbuffer + offset + 1) = (this->map_load_time.nsec >> (8 * 1)) & 0xFF;
00042       *(outbuffer + offset + 2) = (this->map_load_time.nsec >> (8 * 2)) & 0xFF;
00043       *(outbuffer + offset + 3) = (this->map_load_time.nsec >> (8 * 3)) & 0xFF;
00044       offset += sizeof(this->map_load_time.nsec);
00045       union {
00046         float real;
00047         uint32_t base;
00048       } u_resolution;
00049       u_resolution.real = this->resolution;
00050       *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
00051       *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
00052       *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
00053       *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
00054       offset += sizeof(this->resolution);
00055       *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
00056       *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
00057       *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
00058       *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
00059       offset += sizeof(this->width);
00060       *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
00061       *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
00062       *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
00063       *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
00064       offset += sizeof(this->height);
00065       offset += this->origin.serialize(outbuffer + offset);
00066       return offset;
00067     }
00068 
00069     virtual int deserialize(unsigned char *inbuffer)
00070     {
00071       int offset = 0;
00072       this->map_load_time.sec =  ((uint32_t) (*(inbuffer + offset)));
00073       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00074       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00075       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00076       offset += sizeof(this->map_load_time.sec);
00077       this->map_load_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
00078       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00079       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00080       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00081       offset += sizeof(this->map_load_time.nsec);
00082       union {
00083         float real;
00084         uint32_t base;
00085       } u_resolution;
00086       u_resolution.base = 0;
00087       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00088       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00089       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00090       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00091       this->resolution = u_resolution.real;
00092       offset += sizeof(this->resolution);
00093       this->width =  ((uint32_t) (*(inbuffer + offset)));
00094       this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00095       this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00096       this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00097       offset += sizeof(this->width);
00098       this->height =  ((uint32_t) (*(inbuffer + offset)));
00099       this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00100       this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00101       this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00102       offset += sizeof(this->height);
00103       offset += this->origin.deserialize(inbuffer + offset);
00104      return offset;
00105     }
00106 
00107     const char * getType(){ return "nav_msgs/MapMetaData"; };
00108     const char * getMD5(){ return "10cfc8a2818024d3248802c00c95f11b"; };
00109 
00110   };
00111 
00112 }
00113 #endif