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     virtual int serialize(unsigned char *outbuffer) const
00024     {
00025       int offset = 0;
00026       *(outbuffer + offset + 0) = (this->map_load_time.sec >> (8 * 0)) & 0xFF;
00027       *(outbuffer + offset + 1) = (this->map_load_time.sec >> (8 * 1)) & 0xFF;
00028       *(outbuffer + offset + 2) = (this->map_load_time.sec >> (8 * 2)) & 0xFF;
00029       *(outbuffer + offset + 3) = (this->map_load_time.sec >> (8 * 3)) & 0xFF;
00030       offset += sizeof(this->map_load_time.sec);
00031       *(outbuffer + offset + 0) = (this->map_load_time.nsec >> (8 * 0)) & 0xFF;
00032       *(outbuffer + offset + 1) = (this->map_load_time.nsec >> (8 * 1)) & 0xFF;
00033       *(outbuffer + offset + 2) = (this->map_load_time.nsec >> (8 * 2)) & 0xFF;
00034       *(outbuffer + offset + 3) = (this->map_load_time.nsec >> (8 * 3)) & 0xFF;
00035       offset += sizeof(this->map_load_time.nsec);
00036       union {
00037         float real;
00038         uint32_t base;
00039       } u_resolution;
00040       u_resolution.real = this->resolution;
00041       *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
00042       *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
00043       *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
00044       *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
00045       offset += sizeof(this->resolution);
00046       *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
00047       *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
00048       *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
00049       *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
00050       offset += sizeof(this->width);
00051       *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
00052       *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
00053       *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
00054       *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
00055       offset += sizeof(this->height);
00056       offset += this->origin.serialize(outbuffer + offset);
00057       return offset;
00058     }
00059 
00060     virtual int deserialize(unsigned char *inbuffer)
00061     {
00062       int offset = 0;
00063       this->map_load_time.sec =  ((uint32_t) (*(inbuffer + offset)));
00064       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00065       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00066       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00067       offset += sizeof(this->map_load_time.sec);
00068       this->map_load_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
00069       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00070       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00071       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00072       offset += sizeof(this->map_load_time.nsec);
00073       union {
00074         float real;
00075         uint32_t base;
00076       } u_resolution;
00077       u_resolution.base = 0;
00078       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00079       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00080       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00081       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00082       this->resolution = u_resolution.real;
00083       offset += sizeof(this->resolution);
00084       this->width =  ((uint32_t) (*(inbuffer + offset)));
00085       this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00086       this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00087       this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00088       offset += sizeof(this->width);
00089       this->height =  ((uint32_t) (*(inbuffer + offset)));
00090       this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00091       this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00092       this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00093       offset += sizeof(this->height);
00094       offset += this->origin.deserialize(inbuffer + offset);
00095      return offset;
00096     }
00097 
00098     virtual const char * getType(){ return "nav_msgs/MapMetaData"; };
00099     virtual const char * getMD5(){ return "10cfc8a2818024d3248802c00c95f11b"; };
00100 
00101   };
00102 
00103 }
00104 #endif