OccupancyGrid.h

00001 #ifndef _ROS_nav_msgs_OccupancyGrid_h
00002 #define _ROS_nav_msgs_OccupancyGrid_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 "nav_msgs/MapMetaData.h"
00010 
00011 namespace nav_msgs
00012 {
00013 
00014   class OccupancyGrid : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       nav_msgs::MapMetaData info;
00019       uint8_t data_length;
00020       int8_t st_data;
00021       int8_t * data;
00022 
00023     OccupancyGrid():
00024       header(),
00025       info(),
00026       data_length(0), data(NULL)
00027     {
00028     }
00029 
00030     virtual int serialize(unsigned char *outbuffer) const
00031     {
00032       int offset = 0;
00033       offset += this->header.serialize(outbuffer + offset);
00034       offset += this->info.serialize(outbuffer + offset);
00035       *(outbuffer + offset++) = data_length;
00036       *(outbuffer + offset++) = 0;
00037       *(outbuffer + offset++) = 0;
00038       *(outbuffer + offset++) = 0;
00039       for( uint8_t i = 0; i < data_length; i++){
00040       union {
00041         int8_t real;
00042         uint8_t base;
00043       } u_datai;
00044       u_datai.real = this->data[i];
00045       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00046       offset += sizeof(this->data[i]);
00047       }
00048       return offset;
00049     }
00050 
00051     virtual int deserialize(unsigned char *inbuffer)
00052     {
00053       int offset = 0;
00054       offset += this->header.deserialize(inbuffer + offset);
00055       offset += this->info.deserialize(inbuffer + offset);
00056       uint8_t data_lengthT = *(inbuffer + offset++);
00057       if(data_lengthT > data_length)
00058         this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
00059       offset += 3;
00060       data_length = data_lengthT;
00061       for( uint8_t i = 0; i < data_length; i++){
00062       union {
00063         int8_t real;
00064         uint8_t base;
00065       } u_st_data;
00066       u_st_data.base = 0;
00067       u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00068       this->st_data = u_st_data.real;
00069       offset += sizeof(this->st_data);
00070         memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
00071       }
00072      return offset;
00073     }
00074 
00075     const char * getType(){ return "nav_msgs/OccupancyGrid"; };
00076     const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
00077 
00078   };
00079 
00080 }
00081 #endif