Diff: ros_lib/mav_planning_msgs/PolynomialSegment4D.h

Revision:

0:8f3710bfd298

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros_lib/mav_planning_msgs/PolynomialSegment4D.h	Wed Sep 02 13:51:31 2020 +0000
@@ -0,0 +1,300 @@
+#ifndef _ROS_mav_planning_msgs_PolynomialSegment4D_h
+#define _ROS_mav_planning_msgs_PolynomialSegment4D_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "ros/duration.h"
+
+namespace mav_planning_msgs
+{
+
+  class PolynomialSegment4D : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef int32_t _num_coeffs_type;
+      _num_coeffs_type num_coeffs;
+      typedef ros::Duration _segment_time_type;
+      _segment_time_type segment_time;
+      uint32_t x_length;
+      typedef double _x_type;
+      _x_type st_x;
+      _x_type * x;
+      uint32_t y_length;
+      typedef double _y_type;
+      _y_type st_y;
+      _y_type * y;
+      uint32_t z_length;
+      typedef double _z_type;
+      _z_type st_z;
+      _z_type * z;
+      uint32_t yaw_length;
+      typedef double _yaw_type;
+      _yaw_type st_yaw;
+      _yaw_type * yaw;
+
+    PolynomialSegment4D():
+      header(),
+      num_coeffs(0),
+      segment_time(),
+      x_length(0), x(NULL),
+      y_length(0), y(NULL),
+      z_length(0), z(NULL),
+      yaw_length(0), yaw(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_num_coeffs;
+      u_num_coeffs.real = this->num_coeffs;
+      *(outbuffer + offset + 0) = (u_num_coeffs.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_num_coeffs.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_num_coeffs.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_num_coeffs.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->num_coeffs);
+      *(outbuffer + offset + 0) = (this->segment_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->segment_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->segment_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->segment_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->segment_time.sec);
+      *(outbuffer + offset + 0) = (this->segment_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->segment_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->segment_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->segment_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->segment_time.nsec);
+      *(outbuffer + offset + 0) = (this->x_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->x_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->x_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->x_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x_length);
+      for( uint32_t i = 0; i < x_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_xi;
+      u_xi.real = this->x[i];
+      *(outbuffer + offset + 0) = (u_xi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_xi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_xi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_xi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_xi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_xi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_xi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_xi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x[i]);
+      }
+      *(outbuffer + offset + 0) = (this->y_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->y_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->y_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->y_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y_length);
+      for( uint32_t i = 0; i < y_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_yi;
+      u_yi.real = this->y[i];
+      *(outbuffer + offset + 0) = (u_yi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_yi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_yi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_yi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_yi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_yi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_yi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_yi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y[i]);
+      }
+      *(outbuffer + offset + 0) = (this->z_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->z_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->z_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->z_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->z_length);
+      for( uint32_t i = 0; i < z_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_zi;
+      u_zi.real = this->z[i];
+      *(outbuffer + offset + 0) = (u_zi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_zi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_zi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_zi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_zi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_zi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_zi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_zi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z[i]);
+      }
+      *(outbuffer + offset + 0) = (this->yaw_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->yaw_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->yaw_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->yaw_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->yaw_length);
+      for( uint32_t i = 0; i < yaw_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_yawi;
+      u_yawi.real = this->yaw[i];
+      *(outbuffer + offset + 0) = (u_yawi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_yawi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_yawi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_yawi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_yawi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_yawi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_yawi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_yawi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->yaw[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_num_coeffs;
+      u_num_coeffs.base = 0;
+      u_num_coeffs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_num_coeffs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_num_coeffs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_num_coeffs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->num_coeffs = u_num_coeffs.real;
+      offset += sizeof(this->num_coeffs);
+      this->segment_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->segment_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->segment_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->segment_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->segment_time.sec);
+      this->segment_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->segment_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->segment_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->segment_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->segment_time.nsec);
+      uint32_t x_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      x_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      x_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      x_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->x_length);
+      if(x_lengthT > x_length)
+        this->x = (double*)realloc(this->x, x_lengthT * sizeof(double));
+      x_length = x_lengthT;
+      for( uint32_t i = 0; i < x_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_x;
+      u_st_x.base = 0;
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_x = u_st_x.real;
+      offset += sizeof(this->st_x);
+        memcpy( &(this->x[i]), &(this->st_x), sizeof(double));
+      }
+      uint32_t y_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      y_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      y_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      y_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->y_length);
+      if(y_lengthT > y_length)
+        this->y = (double*)realloc(this->y, y_lengthT * sizeof(double));
+      y_length = y_lengthT;
+      for( uint32_t i = 0; i < y_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_y;
+      u_st_y.base = 0;
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_y = u_st_y.real;
+      offset += sizeof(this->st_y);
+        memcpy( &(this->y[i]), &(this->st_y), sizeof(double));
+      }
+      uint32_t z_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      z_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      z_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      z_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->z_length);
+      if(z_lengthT > z_length)
+        this->z = (double*)realloc(this->z, z_lengthT * sizeof(double));
+      z_length = z_lengthT;
+      for( uint32_t i = 0; i < z_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_z;
+      u_st_z.base = 0;
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_z = u_st_z.real;
+      offset += sizeof(this->st_z);
+        memcpy( &(this->z[i]), &(this->st_z), sizeof(double));
+      }
+      uint32_t yaw_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      yaw_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      yaw_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      yaw_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->yaw_length);
+      if(yaw_lengthT > yaw_length)
+        this->yaw = (double*)realloc(this->yaw, yaw_lengthT * sizeof(double));
+      yaw_length = yaw_lengthT;
+      for( uint32_t i = 0; i < yaw_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_yaw;
+      u_st_yaw.base = 0;
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_yaw.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_yaw = u_st_yaw.real;
+      offset += sizeof(this->st_yaw);
+        memcpy( &(this->yaw[i]), &(this->st_yaw), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "mav_planning_msgs/PolynomialSegment4D"; };
+    const char * getMD5(){ return "c85fa40c94ff35d242df13d4d3a57809"; };
+
+  };
+
+}
+#endif