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
Fork of ros_lib_kinetic by
map_msgs/ProjectedMap.h@2:9114cc24ddcf, 2017-10-17 (annotated)
- Committer:
- jacobepfl1692
- Date:
- Tue Oct 17 18:49:03 2017 +0000
- Revision:
- 2:9114cc24ddcf
- Parent:
- 0:9e9b7db60fd5
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)
Who changed what in which revision?
User | Revision | Line number | New 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 |