Range.h

00001 #ifndef _ROS_sensor_msgs_Range_h
00002 #define _ROS_sensor_msgs_Range_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 
00010 namespace sensor_msgs
00011 {
00012 
00013   class Range : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       uint8_t radiation_type;
00018       float field_of_view;
00019       float min_range;
00020       float max_range;
00021       float range;
00022       enum { ULTRASOUND = 0 };
00023       enum { INFRARED = 1 };
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       offset += this->header.serialize(outbuffer + offset);
00029       *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF;
00030       offset += sizeof(this->radiation_type);
00031       union {
00032         float real;
00033         uint32_t base;
00034       } u_field_of_view;
00035       u_field_of_view.real = this->field_of_view;
00036       *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF;
00037       *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF;
00038       *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF;
00039       *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF;
00040       offset += sizeof(this->field_of_view);
00041       union {
00042         float real;
00043         uint32_t base;
00044       } u_min_range;
00045       u_min_range.real = this->min_range;
00046       *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF;
00047       *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF;
00048       *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF;
00049       *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF;
00050       offset += sizeof(this->min_range);
00051       union {
00052         float real;
00053         uint32_t base;
00054       } u_max_range;
00055       u_max_range.real = this->max_range;
00056       *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF;
00057       *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF;
00058       *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF;
00059       *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF;
00060       offset += sizeof(this->max_range);
00061       union {
00062         float real;
00063         uint32_t base;
00064       } u_range;
00065       u_range.real = this->range;
00066       *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF;
00067       *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF;
00068       *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF;
00069       *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF;
00070       offset += sizeof(this->range);
00071       return offset;
00072     }
00073 
00074     virtual int deserialize(unsigned char *inbuffer)
00075     {
00076       int offset = 0;
00077       offset += this->header.deserialize(inbuffer + offset);
00078       this->radiation_type |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00079       offset += sizeof(this->radiation_type);
00080       union {
00081         float real;
00082         uint32_t base;
00083       } u_field_of_view;
00084       u_field_of_view.base = 0;
00085       u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00086       u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00087       u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00088       u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00089       this->field_of_view = u_field_of_view.real;
00090       offset += sizeof(this->field_of_view);
00091       union {
00092         float real;
00093         uint32_t base;
00094       } u_min_range;
00095       u_min_range.base = 0;
00096       u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00097       u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00098       u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00099       u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00100       this->min_range = u_min_range.real;
00101       offset += sizeof(this->min_range);
00102       union {
00103         float real;
00104         uint32_t base;
00105       } u_max_range;
00106       u_max_range.base = 0;
00107       u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00108       u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00109       u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00110       u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00111       this->max_range = u_max_range.real;
00112       offset += sizeof(this->max_range);
00113       union {
00114         float real;
00115         uint32_t base;
00116       } u_range;
00117       u_range.base = 0;
00118       u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00119       u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00120       u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00121       u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00122       this->range = u_range.real;
00123       offset += sizeof(this->range);
00124      return offset;
00125     }
00126 
00127     virtual const char * getType(){ return "sensor_msgs/Range"; };
00128     virtual const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; };
00129 
00130   };
00131 
00132 }
00133 #endif