Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/LaserScan.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_sensor_msgs_LaserScan_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_LaserScan_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 sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class LaserScan : 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 float _angle_min_type;
garyservin 0:9e9b7db60fd5 19 _angle_min_type angle_min;
garyservin 0:9e9b7db60fd5 20 typedef float _angle_max_type;
garyservin 0:9e9b7db60fd5 21 _angle_max_type angle_max;
garyservin 0:9e9b7db60fd5 22 typedef float _angle_increment_type;
garyservin 0:9e9b7db60fd5 23 _angle_increment_type angle_increment;
garyservin 0:9e9b7db60fd5 24 typedef float _time_increment_type;
garyservin 0:9e9b7db60fd5 25 _time_increment_type time_increment;
garyservin 0:9e9b7db60fd5 26 typedef float _scan_time_type;
garyservin 0:9e9b7db60fd5 27 _scan_time_type scan_time;
garyservin 0:9e9b7db60fd5 28 typedef float _range_min_type;
garyservin 0:9e9b7db60fd5 29 _range_min_type range_min;
garyservin 0:9e9b7db60fd5 30 typedef float _range_max_type;
garyservin 0:9e9b7db60fd5 31 _range_max_type range_max;
garyservin 0:9e9b7db60fd5 32 uint32_t ranges_length;
garyservin 0:9e9b7db60fd5 33 typedef float _ranges_type;
garyservin 0:9e9b7db60fd5 34 _ranges_type st_ranges;
garyservin 0:9e9b7db60fd5 35 _ranges_type * ranges;
garyservin 0:9e9b7db60fd5 36 uint32_t intensities_length;
garyservin 0:9e9b7db60fd5 37 typedef float _intensities_type;
garyservin 0:9e9b7db60fd5 38 _intensities_type st_intensities;
garyservin 0:9e9b7db60fd5 39 _intensities_type * intensities;
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 LaserScan():
garyservin 0:9e9b7db60fd5 42 header(),
garyservin 0:9e9b7db60fd5 43 angle_min(0),
garyservin 0:9e9b7db60fd5 44 angle_max(0),
garyservin 0:9e9b7db60fd5 45 angle_increment(0),
garyservin 0:9e9b7db60fd5 46 time_increment(0),
garyservin 0:9e9b7db60fd5 47 scan_time(0),
garyservin 0:9e9b7db60fd5 48 range_min(0),
garyservin 0:9e9b7db60fd5 49 range_max(0),
garyservin 0:9e9b7db60fd5 50 ranges_length(0), ranges(NULL),
garyservin 0:9e9b7db60fd5 51 intensities_length(0), intensities(NULL)
garyservin 0:9e9b7db60fd5 52 {
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54
garyservin 0:9e9b7db60fd5 55 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 56 {
garyservin 0:9e9b7db60fd5 57 int offset = 0;
garyservin 0:9e9b7db60fd5 58 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 59 union {
garyservin 0:9e9b7db60fd5 60 float real;
garyservin 0:9e9b7db60fd5 61 uint32_t base;
garyservin 0:9e9b7db60fd5 62 } u_angle_min;
garyservin 0:9e9b7db60fd5 63 u_angle_min.real = this->angle_min;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 offset += sizeof(this->angle_min);
garyservin 0:9e9b7db60fd5 69 union {
garyservin 0:9e9b7db60fd5 70 float real;
garyservin 0:9e9b7db60fd5 71 uint32_t base;
garyservin 0:9e9b7db60fd5 72 } u_angle_max;
garyservin 0:9e9b7db60fd5 73 u_angle_max.real = this->angle_max;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 offset += sizeof(this->angle_max);
garyservin 0:9e9b7db60fd5 79 union {
garyservin 0:9e9b7db60fd5 80 float real;
garyservin 0:9e9b7db60fd5 81 uint32_t base;
garyservin 0:9e9b7db60fd5 82 } u_angle_increment;
garyservin 0:9e9b7db60fd5 83 u_angle_increment.real = this->angle_increment;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->angle_increment);
garyservin 0:9e9b7db60fd5 89 union {
garyservin 0:9e9b7db60fd5 90 float real;
garyservin 0:9e9b7db60fd5 91 uint32_t base;
garyservin 0:9e9b7db60fd5 92 } u_time_increment;
garyservin 0:9e9b7db60fd5 93 u_time_increment.real = this->time_increment;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->time_increment);
garyservin 0:9e9b7db60fd5 99 union {
garyservin 0:9e9b7db60fd5 100 float real;
garyservin 0:9e9b7db60fd5 101 uint32_t base;
garyservin 0:9e9b7db60fd5 102 } u_scan_time;
garyservin 0:9e9b7db60fd5 103 u_scan_time.real = this->scan_time;
garyservin 0:9e9b7db60fd5 104 *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 105 *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 106 *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 107 *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 108 offset += sizeof(this->scan_time);
garyservin 0:9e9b7db60fd5 109 union {
garyservin 0:9e9b7db60fd5 110 float real;
garyservin 0:9e9b7db60fd5 111 uint32_t base;
garyservin 0:9e9b7db60fd5 112 } u_range_min;
garyservin 0:9e9b7db60fd5 113 u_range_min.real = this->range_min;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 117 *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 118 offset += sizeof(this->range_min);
garyservin 0:9e9b7db60fd5 119 union {
garyservin 0:9e9b7db60fd5 120 float real;
garyservin 0:9e9b7db60fd5 121 uint32_t base;
garyservin 0:9e9b7db60fd5 122 } u_range_max;
garyservin 0:9e9b7db60fd5 123 u_range_max.real = this->range_max;
garyservin 0:9e9b7db60fd5 124 *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 offset += sizeof(this->range_max);
garyservin 0:9e9b7db60fd5 129 *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 130 *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 131 *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 132 *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 133 offset += sizeof(this->ranges_length);
garyservin 0:9e9b7db60fd5 134 for( uint32_t i = 0; i < ranges_length; i++){
garyservin 0:9e9b7db60fd5 135 union {
garyservin 0:9e9b7db60fd5 136 float real;
garyservin 0:9e9b7db60fd5 137 uint32_t base;
garyservin 0:9e9b7db60fd5 138 } u_rangesi;
garyservin 0:9e9b7db60fd5 139 u_rangesi.real = this->ranges[i];
garyservin 0:9e9b7db60fd5 140 *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 141 *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 142 *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 143 *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->ranges[i]);
garyservin 0:9e9b7db60fd5 145 }
garyservin 0:9e9b7db60fd5 146 *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 147 *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 148 *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 149 *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 150 offset += sizeof(this->intensities_length);
garyservin 0:9e9b7db60fd5 151 for( uint32_t i = 0; i < intensities_length; i++){
garyservin 0:9e9b7db60fd5 152 union {
garyservin 0:9e9b7db60fd5 153 float real;
garyservin 0:9e9b7db60fd5 154 uint32_t base;
garyservin 0:9e9b7db60fd5 155 } u_intensitiesi;
garyservin 0:9e9b7db60fd5 156 u_intensitiesi.real = this->intensities[i];
garyservin 0:9e9b7db60fd5 157 *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 158 *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 159 *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 160 *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 161 offset += sizeof(this->intensities[i]);
garyservin 0:9e9b7db60fd5 162 }
garyservin 0:9e9b7db60fd5 163 return offset;
garyservin 0:9e9b7db60fd5 164 }
garyservin 0:9e9b7db60fd5 165
garyservin 0:9e9b7db60fd5 166 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 167 {
garyservin 0:9e9b7db60fd5 168 int offset = 0;
garyservin 0:9e9b7db60fd5 169 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 170 union {
garyservin 0:9e9b7db60fd5 171 float real;
garyservin 0:9e9b7db60fd5 172 uint32_t base;
garyservin 0:9e9b7db60fd5 173 } u_angle_min;
garyservin 0:9e9b7db60fd5 174 u_angle_min.base = 0;
garyservin 0:9e9b7db60fd5 175 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 176 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 177 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 178 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 179 this->angle_min = u_angle_min.real;
garyservin 0:9e9b7db60fd5 180 offset += sizeof(this->angle_min);
garyservin 0:9e9b7db60fd5 181 union {
garyservin 0:9e9b7db60fd5 182 float real;
garyservin 0:9e9b7db60fd5 183 uint32_t base;
garyservin 0:9e9b7db60fd5 184 } u_angle_max;
garyservin 0:9e9b7db60fd5 185 u_angle_max.base = 0;
garyservin 0:9e9b7db60fd5 186 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 187 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 188 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 189 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 190 this->angle_max = u_angle_max.real;
garyservin 0:9e9b7db60fd5 191 offset += sizeof(this->angle_max);
garyservin 0:9e9b7db60fd5 192 union {
garyservin 0:9e9b7db60fd5 193 float real;
garyservin 0:9e9b7db60fd5 194 uint32_t base;
garyservin 0:9e9b7db60fd5 195 } u_angle_increment;
garyservin 0:9e9b7db60fd5 196 u_angle_increment.base = 0;
garyservin 0:9e9b7db60fd5 197 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 198 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 199 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 200 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 201 this->angle_increment = u_angle_increment.real;
garyservin 0:9e9b7db60fd5 202 offset += sizeof(this->angle_increment);
garyservin 0:9e9b7db60fd5 203 union {
garyservin 0:9e9b7db60fd5 204 float real;
garyservin 0:9e9b7db60fd5 205 uint32_t base;
garyservin 0:9e9b7db60fd5 206 } u_time_increment;
garyservin 0:9e9b7db60fd5 207 u_time_increment.base = 0;
garyservin 0:9e9b7db60fd5 208 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 209 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 210 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 211 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 212 this->time_increment = u_time_increment.real;
garyservin 0:9e9b7db60fd5 213 offset += sizeof(this->time_increment);
garyservin 0:9e9b7db60fd5 214 union {
garyservin 0:9e9b7db60fd5 215 float real;
garyservin 0:9e9b7db60fd5 216 uint32_t base;
garyservin 0:9e9b7db60fd5 217 } u_scan_time;
garyservin 0:9e9b7db60fd5 218 u_scan_time.base = 0;
garyservin 0:9e9b7db60fd5 219 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 220 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 221 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 222 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 223 this->scan_time = u_scan_time.real;
garyservin 0:9e9b7db60fd5 224 offset += sizeof(this->scan_time);
garyservin 0:9e9b7db60fd5 225 union {
garyservin 0:9e9b7db60fd5 226 float real;
garyservin 0:9e9b7db60fd5 227 uint32_t base;
garyservin 0:9e9b7db60fd5 228 } u_range_min;
garyservin 0:9e9b7db60fd5 229 u_range_min.base = 0;
garyservin 0:9e9b7db60fd5 230 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 231 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 232 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 233 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 234 this->range_min = u_range_min.real;
garyservin 0:9e9b7db60fd5 235 offset += sizeof(this->range_min);
garyservin 0:9e9b7db60fd5 236 union {
garyservin 0:9e9b7db60fd5 237 float real;
garyservin 0:9e9b7db60fd5 238 uint32_t base;
garyservin 0:9e9b7db60fd5 239 } u_range_max;
garyservin 0:9e9b7db60fd5 240 u_range_max.base = 0;
garyservin 0:9e9b7db60fd5 241 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 242 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 243 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 244 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 245 this->range_max = u_range_max.real;
garyservin 0:9e9b7db60fd5 246 offset += sizeof(this->range_max);
garyservin 0:9e9b7db60fd5 247 uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 248 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 249 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 250 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 251 offset += sizeof(this->ranges_length);
garyservin 0:9e9b7db60fd5 252 if(ranges_lengthT > ranges_length)
garyservin 0:9e9b7db60fd5 253 this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 254 ranges_length = ranges_lengthT;
garyservin 0:9e9b7db60fd5 255 for( uint32_t i = 0; i < ranges_length; i++){
garyservin 0:9e9b7db60fd5 256 union {
garyservin 0:9e9b7db60fd5 257 float real;
garyservin 0:9e9b7db60fd5 258 uint32_t base;
garyservin 0:9e9b7db60fd5 259 } u_st_ranges;
garyservin 0:9e9b7db60fd5 260 u_st_ranges.base = 0;
garyservin 0:9e9b7db60fd5 261 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 262 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 263 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 264 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 265 this->st_ranges = u_st_ranges.real;
garyservin 0:9e9b7db60fd5 266 offset += sizeof(this->st_ranges);
garyservin 0:9e9b7db60fd5 267 memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
garyservin 0:9e9b7db60fd5 268 }
garyservin 0:9e9b7db60fd5 269 uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 270 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 271 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 272 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 273 offset += sizeof(this->intensities_length);
garyservin 0:9e9b7db60fd5 274 if(intensities_lengthT > intensities_length)
garyservin 0:9e9b7db60fd5 275 this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 276 intensities_length = intensities_lengthT;
garyservin 0:9e9b7db60fd5 277 for( uint32_t i = 0; i < intensities_length; i++){
garyservin 0:9e9b7db60fd5 278 union {
garyservin 0:9e9b7db60fd5 279 float real;
garyservin 0:9e9b7db60fd5 280 uint32_t base;
garyservin 0:9e9b7db60fd5 281 } u_st_intensities;
garyservin 0:9e9b7db60fd5 282 u_st_intensities.base = 0;
garyservin 0:9e9b7db60fd5 283 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 284 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 285 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 286 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 287 this->st_intensities = u_st_intensities.real;
garyservin 0:9e9b7db60fd5 288 offset += sizeof(this->st_intensities);
garyservin 0:9e9b7db60fd5 289 memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
garyservin 0:9e9b7db60fd5 290 }
garyservin 0:9e9b7db60fd5 291 return offset;
garyservin 0:9e9b7db60fd5 292 }
garyservin 0:9e9b7db60fd5 293
garyservin 0:9e9b7db60fd5 294 const char * getType(){ return "sensor_msgs/LaserScan"; };
garyservin 0:9e9b7db60fd5 295 const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
garyservin 0:9e9b7db60fd5 296
garyservin 0:9e9b7db60fd5 297 };
garyservin 0:9e9b7db60fd5 298
garyservin 0:9e9b7db60fd5 299 }
garyservin 0:9e9b7db60fd5 300 #endif