Seokyong Song / ros_lib_kinetic

ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

map_msgs/ProjectedMap.h@2:65cba0dcf634, 2022-01-27 (annotated)

Committer:
gosari
Date:
Thu Jan 27 11:36:16 2022 +0000
Revision:
2:65cba0dcf634
Parent:
0:9e9b7db60fd5 
for message communication with mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_map_msgs_ProjectedMap_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_map_msgs_ProjectedMap_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "nav_msgs/OccupancyGrid.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace map_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class ProjectedMap : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef nav_msgs::OccupancyGrid _map_type;
garyservin 0:9e9b7db60fd5 17 _map_type map;
garyservin 0:9e9b7db60fd5 18 typedef double _min_z_type;
garyservin 0:9e9b7db60fd5 19 _min_z_type min_z;
garyservin 0:9e9b7db60fd5 20 typedef double _max_z_type;
garyservin 0:9e9b7db60fd5 21 _max_z_type max_z;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 ProjectedMap():
garyservin 0:9e9b7db60fd5 24 map(),
garyservin 0:9e9b7db60fd5 25 min_z(0),
garyservin 0:9e9b7db60fd5 26 max_z(0)
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 }
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 int offset = 0;
garyservin 0:9e9b7db60fd5 33 offset += this->map.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 34 union {
garyservin 0:9e9b7db60fd5 35 double real;
garyservin 0:9e9b7db60fd5 36 uint64_t base;
garyservin 0:9e9b7db60fd5 37 } u_min_z;
garyservin 0:9e9b7db60fd5 38 u_min_z.real = this->min_z;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->min_z);
garyservin 0:9e9b7db60fd5 48 union {
garyservin 0:9e9b7db60fd5 49 double real;
garyservin 0:9e9b7db60fd5 50 uint64_t base;
garyservin 0:9e9b7db60fd5 51 } u_max_z;
garyservin 0:9e9b7db60fd5 52 u_max_z.real = this->max_z;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->max_z);
garyservin 0:9e9b7db60fd5 62 return offset;
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64
garyservin 0:9e9b7db60fd5 65 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 66 {
garyservin 0:9e9b7db60fd5 67 int offset = 0;
garyservin 0:9e9b7db60fd5 68 offset += this->map.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 69 union {
garyservin 0:9e9b7db60fd5 70 double real;
garyservin 0:9e9b7db60fd5 71 uint64_t base;
garyservin 0:9e9b7db60fd5 72 } u_min_z;
garyservin 0:9e9b7db60fd5 73 u_min_z.base = 0;
garyservin 0:9e9b7db60fd5 74 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 75 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 76 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 77 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 78 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 79 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 80 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 81 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 82 this->min_z = u_min_z.real;
garyservin 0:9e9b7db60fd5 83 offset += sizeof(this->min_z);
garyservin 0:9e9b7db60fd5 84 union {
garyservin 0:9e9b7db60fd5 85 double real;
garyservin 0:9e9b7db60fd5 86 uint64_t base;
garyservin 0:9e9b7db60fd5 87 } u_max_z;
garyservin 0:9e9b7db60fd5 88 u_max_z.base = 0;
garyservin 0:9e9b7db60fd5 89 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 90 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 91 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 92 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 93 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 94 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 95 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 96 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 97 this->max_z = u_max_z.real;
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->max_z);
garyservin 0:9e9b7db60fd5 99 return offset;
garyservin 0:9e9b7db60fd5 100 }
garyservin 0:9e9b7db60fd5 101
garyservin 0:9e9b7db60fd5 102 const char * getType(){ return "map_msgs/ProjectedMap"; };
garyservin 0:9e9b7db60fd5 103 const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };
garyservin 0:9e9b7db60fd5 104
garyservin 0:9e9b7db60fd5 105 };
garyservin 0:9e9b7db60fd5 106
garyservin 0:9e9b7db60fd5 107 }
garyservin 0:9e9b7db60fd5 108 #endif