Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

nav_msgs/GridCells.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_nav_msgs_GridCells_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_nav_msgs_GridCells_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 #include "geometry_msgs/Point.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace nav_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class GridCells : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 typedef float _cell_width_type;
garyservin 0:9e9b7db60fd5 20 _cell_width_type cell_width;
garyservin 0:9e9b7db60fd5 21 typedef float _cell_height_type;
garyservin 0:9e9b7db60fd5 22 _cell_height_type cell_height;
garyservin 0:9e9b7db60fd5 23 uint32_t cells_length;
garyservin 0:9e9b7db60fd5 24 typedef geometry_msgs::Point _cells_type;
garyservin 0:9e9b7db60fd5 25 _cells_type st_cells;
garyservin 0:9e9b7db60fd5 26 _cells_type * cells;
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 GridCells():
garyservin 0:9e9b7db60fd5 29 header(),
garyservin 0:9e9b7db60fd5 30 cell_width(0),
garyservin 0:9e9b7db60fd5 31 cell_height(0),
garyservin 0:9e9b7db60fd5 32 cells_length(0), cells(NULL)
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 }
garyservin 0:9e9b7db60fd5 35
garyservin 0:9e9b7db60fd5 36 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 37 {
garyservin 0:9e9b7db60fd5 38 int offset = 0;
garyservin 0:9e9b7db60fd5 39 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 40 union {
garyservin 0:9e9b7db60fd5 41 float real;
garyservin 0:9e9b7db60fd5 42 uint32_t base;
garyservin 0:9e9b7db60fd5 43 } u_cell_width;
garyservin 0:9e9b7db60fd5 44 u_cell_width.real = this->cell_width;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->cell_width);
garyservin 0:9e9b7db60fd5 50 union {
garyservin 0:9e9b7db60fd5 51 float real;
garyservin 0:9e9b7db60fd5 52 uint32_t base;
garyservin 0:9e9b7db60fd5 53 } u_cell_height;
garyservin 0:9e9b7db60fd5 54 u_cell_height.real = this->cell_height;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->cell_height);
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 0) = (this->cells_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 1) = (this->cells_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 2) = (this->cells_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 3) = (this->cells_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->cells_length);
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < cells_length; i++){
garyservin 0:9e9b7db60fd5 66 offset += this->cells[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 67 }
garyservin 0:9e9b7db60fd5 68 return offset;
garyservin 0:9e9b7db60fd5 69 }
garyservin 0:9e9b7db60fd5 70
garyservin 0:9e9b7db60fd5 71 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 72 {
garyservin 0:9e9b7db60fd5 73 int offset = 0;
garyservin 0:9e9b7db60fd5 74 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 75 union {
garyservin 0:9e9b7db60fd5 76 float real;
garyservin 0:9e9b7db60fd5 77 uint32_t base;
garyservin 0:9e9b7db60fd5 78 } u_cell_width;
garyservin 0:9e9b7db60fd5 79 u_cell_width.base = 0;
garyservin 0:9e9b7db60fd5 80 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 81 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 82 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 83 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 84 this->cell_width = u_cell_width.real;
garyservin 0:9e9b7db60fd5 85 offset += sizeof(this->cell_width);
garyservin 0:9e9b7db60fd5 86 union {
garyservin 0:9e9b7db60fd5 87 float real;
garyservin 0:9e9b7db60fd5 88 uint32_t base;
garyservin 0:9e9b7db60fd5 89 } u_cell_height;
garyservin 0:9e9b7db60fd5 90 u_cell_height.base = 0;
garyservin 0:9e9b7db60fd5 91 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 92 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 93 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 94 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 95 this->cell_height = u_cell_height.real;
garyservin 0:9e9b7db60fd5 96 offset += sizeof(this->cell_height);
garyservin 0:9e9b7db60fd5 97 uint32_t cells_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 98 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 99 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 100 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 101 offset += sizeof(this->cells_length);
garyservin 0:9e9b7db60fd5 102 if(cells_lengthT > cells_length)
garyservin 0:9e9b7db60fd5 103 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 104 cells_length = cells_lengthT;
garyservin 0:9e9b7db60fd5 105 for( uint32_t i = 0; i < cells_length; i++){
garyservin 0:9e9b7db60fd5 106 offset += this->st_cells.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 107 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 108 }
garyservin 0:9e9b7db60fd5 109 return offset;
garyservin 0:9e9b7db60fd5 110 }
garyservin 0:9e9b7db60fd5 111
garyservin 0:9e9b7db60fd5 112 const char * getType(){ return "nav_msgs/GridCells"; };
garyservin 0:9e9b7db60fd5 113 const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
garyservin 0:9e9b7db60fd5 114
garyservin 0:9e9b7db60fd5 115 };
garyservin 0:9e9b7db60fd5 116
garyservin 0:9e9b7db60fd5 117 }
garyservin 0:9e9b7db60fd5 118 #endif