Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

map_msgs/ProjectedMap.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_map_msgs_ProjectedMap_h
#define _ROS_map_msgs_ProjectedMap_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "nav_msgs/OccupancyGrid.h"

namespace map_msgs
{

  class ProjectedMap : public ros::Msg
  {
    public:
      typedef nav_msgs::OccupancyGrid _map_type;
      _map_type map;
      typedef double _min_z_type;
      _min_z_type min_z;
      typedef double _max_z_type;
      _max_z_type max_z;

    ProjectedMap():
      map(),
      min_z(0),
      max_z(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->map.serialize(outbuffer + offset);
      union {
        double real;
        uint64_t base;
      } u_min_z;
      u_min_z.real = this->min_z;
      *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->min_z);
      union {
        double real;
        uint64_t base;
      } u_max_z;
      u_max_z.real = this->max_z;
      *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
      *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
      *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
      *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
      *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
      offset += sizeof(this->max_z);
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->map.deserialize(inbuffer + offset);
      union {
        double real;
        uint64_t base;
      } u_min_z;
      u_min_z.base = 0;
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->min_z = u_min_z.real;
      offset += sizeof(this->min_z);
      union {
        double real;
        uint64_t base;
      } u_max_z;
      u_max_z.base = 0;
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
      this->max_z = u_max_z.real;
      offset += sizeof(this->max_z);
     return offset;
    }

    const char * getType(){ return "map_msgs/ProjectedMap"; };
    const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };

  };

}
#endif