Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

map_msgs/OccupancyGridUpdate.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_map_msgs_OccupancyGridUpdate_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_map_msgs_OccupancyGridUpdate_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 "std_msgs/Header.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 OccupancyGridUpdate : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef int32_t _x_type;
garyservin 0:9e9b7db60fd5 19 _x_type x;
garyservin 0:9e9b7db60fd5 20 typedef int32_t _y_type;
garyservin 0:9e9b7db60fd5 21 _y_type y;
garyservin 0:9e9b7db60fd5 22 typedef uint32_t _width_type;
garyservin 0:9e9b7db60fd5 23 _width_type width;
garyservin 0:9e9b7db60fd5 24 typedef uint32_t _height_type;
garyservin 0:9e9b7db60fd5 25 _height_type height;
garyservin 0:9e9b7db60fd5 26 uint32_t data_length;
garyservin 0:9e9b7db60fd5 27 typedef int8_t _data_type;
garyservin 0:9e9b7db60fd5 28 _data_type st_data;
garyservin 0:9e9b7db60fd5 29 _data_type * data;
garyservin 0:9e9b7db60fd5 30
garyservin 0:9e9b7db60fd5 31 OccupancyGridUpdate():
garyservin 0:9e9b7db60fd5 32 header(),
garyservin 0:9e9b7db60fd5 33 x(0),
garyservin 0:9e9b7db60fd5 34 y(0),
garyservin 0:9e9b7db60fd5 35 width(0),
garyservin 0:9e9b7db60fd5 36 height(0),
garyservin 0:9e9b7db60fd5 37 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 42 {
garyservin 0:9e9b7db60fd5 43 int offset = 0;
garyservin 0:9e9b7db60fd5 44 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 45 union {
garyservin 0:9e9b7db60fd5 46 int32_t real;
garyservin 0:9e9b7db60fd5 47 uint32_t base;
garyservin 0:9e9b7db60fd5 48 } u_x;
garyservin 0:9e9b7db60fd5 49 u_x.real = this->x;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 55 union {
garyservin 0:9e9b7db60fd5 56 int32_t real;
garyservin 0:9e9b7db60fd5 57 uint32_t base;
garyservin 0:9e9b7db60fd5 58 } u_y;
garyservin 0:9e9b7db60fd5 59 u_y.real = this->y;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 80 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 81 union {
garyservin 0:9e9b7db60fd5 82 int8_t real;
garyservin 0:9e9b7db60fd5 83 uint8_t base;
garyservin 0:9e9b7db60fd5 84 } u_datai;
garyservin 0:9e9b7db60fd5 85 u_datai.real = this->data[i];
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 return offset;
garyservin 0:9e9b7db60fd5 90 }
garyservin 0:9e9b7db60fd5 91
garyservin 0:9e9b7db60fd5 92 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 93 {
garyservin 0:9e9b7db60fd5 94 int offset = 0;
garyservin 0:9e9b7db60fd5 95 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 96 union {
garyservin 0:9e9b7db60fd5 97 int32_t real;
garyservin 0:9e9b7db60fd5 98 uint32_t base;
garyservin 0:9e9b7db60fd5 99 } u_x;
garyservin 0:9e9b7db60fd5 100 u_x.base = 0;
garyservin 0:9e9b7db60fd5 101 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 102 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 103 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 104 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 105 this->x = u_x.real;
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->x);
garyservin 0:9e9b7db60fd5 107 union {
garyservin 0:9e9b7db60fd5 108 int32_t real;
garyservin 0:9e9b7db60fd5 109 uint32_t base;
garyservin 0:9e9b7db60fd5 110 } u_y;
garyservin 0:9e9b7db60fd5 111 u_y.base = 0;
garyservin 0:9e9b7db60fd5 112 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 113 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 114 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 115 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 116 this->y = u_y.real;
garyservin 0:9e9b7db60fd5 117 offset += sizeof(this->y);
garyservin 0:9e9b7db60fd5 118 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 119 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 120 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 121 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 122 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 123 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 124 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 125 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 126 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 127 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 128 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 129 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 130 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 131 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 132 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 133 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 134 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
garyservin 0:9e9b7db60fd5 135 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 136 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 137 union {
garyservin 0:9e9b7db60fd5 138 int8_t real;
garyservin 0:9e9b7db60fd5 139 uint8_t base;
garyservin 0:9e9b7db60fd5 140 } u_st_data;
garyservin 0:9e9b7db60fd5 141 u_st_data.base = 0;
garyservin 0:9e9b7db60fd5 142 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 143 this->st_data = u_st_data.real;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 145 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
garyservin 0:9e9b7db60fd5 146 }
garyservin 0:9e9b7db60fd5 147 return offset;
garyservin 0:9e9b7db60fd5 148 }
garyservin 0:9e9b7db60fd5 149
garyservin 0:9e9b7db60fd5 150 const char * getType(){ return "map_msgs/OccupancyGridUpdate"; };
garyservin 0:9e9b7db60fd5 151 const char * getMD5(){ return "b295be292b335c34718bd939deebe1c9"; };
garyservin 0:9e9b7db60fd5 152
garyservin 0:9e9b7db60fd5 153 };
garyservin 0:9e9b7db60fd5 154
garyservin 0:9e9b7db60fd5 155 }
garyservin 0:9e9b7db60fd5 156 #endif