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     virtual int serialize(unsigned char *outbuffer) const
00024     {
00025       int offset = 0;
00026       offset += this->header.serialize(outbuffer + offset);
00027       offset += this->info.serialize(outbuffer + offset);
00028       *(outbuffer + offset++) = data_length;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = 0;
00032       for( uint8_t i = 0; i < data_length; i++){
00033       union {
00034         int8_t real;
00035         uint8_t base;
00036       } u_datai;
00037       u_datai.real = this->data[i];
00038       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00039       offset += sizeof(this->data[i]);
00040       }
00041       return offset;
00042     }
00043 
00044     virtual int deserialize(unsigned char *inbuffer)
00045     {
00046       int offset = 0;
00047       offset += this->header.deserialize(inbuffer + offset);
00048       offset += this->info.deserialize(inbuffer + offset);
00049       uint8_t data_lengthT = *(inbuffer + offset++);
00050       if(data_lengthT > data_length)
00051         this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
00052       offset += 3;
00053       data_length = data_lengthT;
00054       for( uint8_t i = 0; i < data_length; i++){
00055       union {
00056         int8_t real;
00057         uint8_t base;
00058       } u_st_data;
00059       u_st_data.base = 0;
00060       u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00061       this->st_data = u_st_data.real;
00062       offset += sizeof(this->st_data);
00063         memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
00064       }
00065      return offset;
00066     }
00067 
00068     virtual const char * getType(){ return "nav_msgs/OccupancyGrid"; };
00069     virtual const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
00070 
00071   };
00072 
00073 }
00074 #endif