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

nav_msgs/OccupancyGrid.h

Committer:
garyservin
Date:
2016-12-31
Revision:
0:9e9b7db60fd5

File content as of revision 0:9e9b7db60fd5:

#ifndef _ROS_nav_msgs_OccupancyGrid_h
#define _ROS_nav_msgs_OccupancyGrid_h

#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "nav_msgs/MapMetaData.h"

namespace nav_msgs
{

  class OccupancyGrid : public ros::Msg
  {
    public:
      typedef std_msgs::Header _header_type;
      _header_type header;
      typedef nav_msgs::MapMetaData _info_type;
      _info_type info;
      uint32_t data_length;
      typedef int8_t _data_type;
      _data_type st_data;
      _data_type * data;

    OccupancyGrid():
      header(),
      info(),
      data_length(0), data(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      offset += this->info.serialize(outbuffer + offset);
      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->data_length);
      for( uint32_t i = 0; i < data_length; i++){
      union {
        int8_t real;
        uint8_t base;
      } u_datai;
      u_datai.real = this->data[i];
      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
      offset += sizeof(this->data[i]);
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      offset += this->header.deserialize(inbuffer + offset);
      offset += this->info.deserialize(inbuffer + offset);
      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->data_length);
      if(data_lengthT > data_length)
        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
      data_length = data_lengthT;
      for( uint32_t i = 0; i < data_length; i++){
      union {
        int8_t real;
        uint8_t base;
      } u_st_data;
      u_st_data.base = 0;
      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->st_data = u_st_data.real;
      offset += sizeof(this->st_data);
        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
      }
     return offset;
    }

    const char * getType(){ return "nav_msgs/OccupancyGrid"; };
    const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };

  };

}
#endif