Gary Servin / rosserial_mbed_lib

Personal fork

Dependencies:   MODSERIAL

Dependents:   rosserial_mbed

Fork of rosserial_mbed_lib by nucho

nav_msgs/OccupancyGrid.h@5:19c5437ed9fe, 2014-05-01 (annotated)

Committer:
garyservin
Date:
Thu May 01 06:01:31 2014 +0000
Revision:
5:19c5437ed9fe
Parent:
3:1cf99502f396 
Updated to hydro

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:1cf99502f396 1 #ifndef _ROS_nav_msgs_OccupancyGrid_h
nucho 3:1cf99502f396 2 #define _ROS_nav_msgs_OccupancyGrid_h
nucho 0:77afd7560544 3
nucho 0:77afd7560544 4 #include <stdint.h>
nucho 0:77afd7560544 5 #include <string.h>
nucho 0:77afd7560544 6 #include <stdlib.h>
nucho 3:1cf99502f396 7 #include "ros/msg.h"
nucho 0:77afd7560544 8 #include "std_msgs/Header.h"
nucho 0:77afd7560544 9 #include "nav_msgs/MapMetaData.h"
nucho 0:77afd7560544 10
nucho 0:77afd7560544 11 namespace nav_msgs
nucho 0:77afd7560544 12 {
nucho 0:77afd7560544 13
nucho 0:77afd7560544 14 class OccupancyGrid : public ros::Msg
nucho 0:77afd7560544 15 {
nucho 0:77afd7560544 16 public:
nucho 0:77afd7560544 17 std_msgs::Header header;
nucho 0:77afd7560544 18 nav_msgs::MapMetaData info;
nucho 3:1cf99502f396 19 uint8_t data_length;
nucho 3:1cf99502f396 20 int8_t st_data;
nucho 3:1cf99502f396 21 int8_t * data;
nucho 0:77afd7560544 22
nucho 3:1cf99502f396 23 virtual int serialize(unsigned char *outbuffer) const
nucho 0:77afd7560544 24 {
nucho 0:77afd7560544 25 int offset = 0;
nucho 0:77afd7560544 26 offset += this->header.serialize(outbuffer + offset);
nucho 0:77afd7560544 27 offset += this->info.serialize(outbuffer + offset);
nucho 0:77afd7560544 28 *(outbuffer + offset++) = data_length;
nucho 0:77afd7560544 29 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 30 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 31 *(outbuffer + offset++) = 0;
nucho 3:1cf99502f396 32 for( uint8_t i = 0; i < data_length; i++){
nucho 0:77afd7560544 33 union {
nucho 3:1cf99502f396 34 int8_t real;
nucho 3:1cf99502f396 35 uint8_t base;
nucho 0:77afd7560544 36 } u_datai;
nucho 0:77afd7560544 37 u_datai.real = this->data[i];
nucho 0:77afd7560544 38 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 39 offset += sizeof(this->data[i]);
nucho 0:77afd7560544 40 }
nucho 0:77afd7560544 41 return offset;
nucho 0:77afd7560544 42 }
nucho 0:77afd7560544 43
nucho 0:77afd7560544 44 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 45 {
nucho 0:77afd7560544 46 int offset = 0;
nucho 0:77afd7560544 47 offset += this->header.deserialize(inbuffer + offset);
nucho 0:77afd7560544 48 offset += this->info.deserialize(inbuffer + offset);
nucho 3:1cf99502f396 49 uint8_t data_lengthT = *(inbuffer + offset++);
nucho 0:77afd7560544 50 if(data_lengthT > data_length)
nucho 3:1cf99502f396 51 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
nucho 0:77afd7560544 52 offset += 3;
nucho 0:77afd7560544 53 data_length = data_lengthT;
nucho 3:1cf99502f396 54 for( uint8_t i = 0; i < data_length; i++){
nucho 0:77afd7560544 55 union {
nucho 3:1cf99502f396 56 int8_t real;
nucho 3:1cf99502f396 57 uint8_t base;
nucho 0:77afd7560544 58 } u_st_data;
nucho 0:77afd7560544 59 u_st_data.base = 0;
nucho 3:1cf99502f396 60 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 61 this->st_data = u_st_data.real;
nucho 0:77afd7560544 62 offset += sizeof(this->st_data);
nucho 3:1cf99502f396 63 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
nucho 0:77afd7560544 64 }
nucho 0:77afd7560544 65 return offset;
nucho 0:77afd7560544 66 }
nucho 0:77afd7560544 67
nucho 3:1cf99502f396 68 virtual const char * getType(){ return "nav_msgs/OccupancyGrid"; };
nucho 3:1cf99502f396 69 virtual const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
nucho 0:77afd7560544 70
nucho 0:77afd7560544 71 };
nucho 0:77afd7560544 72
nucho 0:77afd7560544 73 }
nucho 0:77afd7560544 74 #endif