Diff: sensor_msgs/LaserScan.h

Revision:

5:8cd48977ec68

Parent:

4:684f39d0c346

Child:

6:3c54bc7badd4

--- a/sensor_msgs/LaserScan.h	Wed Feb 29 23:00:21 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,268 +0,0 @@
-#ifndef _ROS_sensor_msgs_LaserScan_h
-#define _ROS_sensor_msgs_LaserScan_h
-
-#include <stdint.h>
-#include <string.h>
-#include <stdlib.h>
-#include "ros/msg.h"
-#include "std_msgs/Header.h"
-
-namespace sensor_msgs
-{
-
-  class LaserScan : public ros::Msg
-  {
-    public:
-      std_msgs::Header header;
-      float angle_min;
-      float angle_max;
-      float angle_increment;
-      float time_increment;
-      float scan_time;
-      float range_min;
-      float range_max;
-      uint8_t ranges_length;
-      float st_ranges;
-      float * ranges;
-      uint8_t intensities_length;
-      float st_intensities;
-      float * intensities;
-
-    virtual int serialize(unsigned char *outbuffer) const
-    {
-      int offset = 0;
-      offset += this->header.serialize(outbuffer + offset);
-      union {
-        float real;
-        uint32_t base;
-      } u_angle_min;
-      u_angle_min.real = this->angle_min;
-      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->angle_min);
-      union {
-        float real;
-        uint32_t base;
-      } u_angle_max;
-      u_angle_max.real = this->angle_max;
-      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->angle_max);
-      union {
-        float real;
-        uint32_t base;
-      } u_angle_increment;
-      u_angle_increment.real = this->angle_increment;
-      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->angle_increment);
-      union {
-        float real;
-        uint32_t base;
-      } u_time_increment;
-      u_time_increment.real = this->time_increment;
-      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->time_increment);
-      union {
-        float real;
-        uint32_t base;
-      } u_scan_time;
-      u_scan_time.real = this->scan_time;
-      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->scan_time);
-      union {
-        float real;
-        uint32_t base;
-      } u_range_min;
-      u_range_min.real = this->range_min;
-      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->range_min);
-      union {
-        float real;
-        uint32_t base;
-      } u_range_max;
-      u_range_max.real = this->range_max;
-      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->range_max);
-      *(outbuffer + offset++) = ranges_length;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      for( uint8_t i = 0; i < ranges_length; i++){
-      union {
-        float real;
-        uint32_t base;
-      } u_rangesi;
-      u_rangesi.real = this->ranges[i];
-      *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->ranges[i]);
-      }
-      *(outbuffer + offset++) = intensities_length;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      *(outbuffer + offset++) = 0;
-      for( uint8_t i = 0; i < intensities_length; i++){
-      union {
-        float real;
-        uint32_t base;
-      } u_intensitiesi;
-      u_intensitiesi.real = this->intensities[i];
-      *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
-      offset += sizeof(this->intensities[i]);
-      }
-      return offset;
-    }
-
-    virtual int deserialize(unsigned char *inbuffer)
-    {
-      int offset = 0;
-      offset += this->header.deserialize(inbuffer + offset);
-      union {
-        float real;
-        uint32_t base;
-      } u_angle_min;
-      u_angle_min.base = 0;
-      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->angle_min = u_angle_min.real;
-      offset += sizeof(this->angle_min);
-      union {
-        float real;
-        uint32_t base;
-      } u_angle_max;
-      u_angle_max.base = 0;
-      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->angle_max = u_angle_max.real;
-      offset += sizeof(this->angle_max);
-      union {
-        float real;
-        uint32_t base;
-      } u_angle_increment;
-      u_angle_increment.base = 0;
-      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->angle_increment = u_angle_increment.real;
-      offset += sizeof(this->angle_increment);
-      union {
-        float real;
-        uint32_t base;
-      } u_time_increment;
-      u_time_increment.base = 0;
-      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->time_increment = u_time_increment.real;
-      offset += sizeof(this->time_increment);
-      union {
-        float real;
-        uint32_t base;
-      } u_scan_time;
-      u_scan_time.base = 0;
-      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->scan_time = u_scan_time.real;
-      offset += sizeof(this->scan_time);
-      union {
-        float real;
-        uint32_t base;
-      } u_range_min;
-      u_range_min.base = 0;
-      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->range_min = u_range_min.real;
-      offset += sizeof(this->range_min);
-      union {
-        float real;
-        uint32_t base;
-      } u_range_max;
-      u_range_max.base = 0;
-      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->range_max = u_range_max.real;
-      offset += sizeof(this->range_max);
-      uint8_t ranges_lengthT = *(inbuffer + offset++);
-      if(ranges_lengthT > ranges_length)
-        this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
-      offset += 3;
-      ranges_length = ranges_lengthT;
-      for( uint8_t i = 0; i < ranges_length; i++){
-      union {
-        float real;
-        uint32_t base;
-      } u_st_ranges;
-      u_st_ranges.base = 0;
-      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->st_ranges = u_st_ranges.real;
-      offset += sizeof(this->st_ranges);
-        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
-      }
-      uint8_t intensities_lengthT = *(inbuffer + offset++);
-      if(intensities_lengthT > intensities_length)
-        this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
-      offset += 3;
-      intensities_length = intensities_lengthT;
-      for( uint8_t i = 0; i < intensities_length; i++){
-      union {
-        float real;
-        uint32_t base;
-      } u_st_intensities;
-      u_st_intensities.base = 0;
-      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->st_intensities = u_st_intensities.real;
-      offset += sizeof(this->st_intensities);
-        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
-      }
-     return offset;
-    }
-
-    virtual const char * getType(){ return "sensor_msgs/LaserScan"; };
-    virtual const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
-
-  };
-
-}
-#endif
\ No newline at end of file