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GridCells.h
00001 #ifndef _ROS_nav_msgs_GridCells_h 00002 #define _ROS_nav_msgs_GridCells_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "geometry_msgs/Point.h" 00010 00011 namespace nav_msgs 00012 { 00013 00014 class GridCells : public ros::Msg 00015 { 00016 public: 00017 typedef std_msgs::Header _header_type; 00018 _header_type header; 00019 typedef float _cell_width_type; 00020 _cell_width_type cell_width; 00021 typedef float _cell_height_type; 00022 _cell_height_type cell_height; 00023 uint32_t cells_length; 00024 typedef geometry_msgs::Point _cells_type; 00025 _cells_type st_cells; 00026 _cells_type * cells; 00027 00028 GridCells(): 00029 header(), 00030 cell_width(0), 00031 cell_height(0), 00032 cells_length(0), cells(NULL) 00033 { 00034 } 00035 00036 virtual int serialize(unsigned char *outbuffer) const 00037 { 00038 int offset = 0; 00039 offset += this->header.serialize(outbuffer + offset); 00040 union { 00041 float real; 00042 uint32_t base; 00043 } u_cell_width; 00044 u_cell_width.real = this->cell_width; 00045 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF; 00046 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF; 00047 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF; 00048 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF; 00049 offset += sizeof(this->cell_width); 00050 union { 00051 float real; 00052 uint32_t base; 00053 } u_cell_height; 00054 u_cell_height.real = this->cell_height; 00055 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF; 00056 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF; 00057 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF; 00058 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF; 00059 offset += sizeof(this->cell_height); 00060 *(outbuffer + offset + 0) = (this->cells_length >> (8 * 0)) & 0xFF; 00061 *(outbuffer + offset + 1) = (this->cells_length >> (8 * 1)) & 0xFF; 00062 *(outbuffer + offset + 2) = (this->cells_length >> (8 * 2)) & 0xFF; 00063 *(outbuffer + offset + 3) = (this->cells_length >> (8 * 3)) & 0xFF; 00064 offset += sizeof(this->cells_length); 00065 for( uint32_t i = 0; i < cells_length; i++){ 00066 offset += this->cells[i].serialize(outbuffer + offset); 00067 } 00068 return offset; 00069 } 00070 00071 virtual int deserialize(unsigned char *inbuffer) 00072 { 00073 int offset = 0; 00074 offset += this->header.deserialize(inbuffer + offset); 00075 union { 00076 float real; 00077 uint32_t base; 00078 } u_cell_width; 00079 u_cell_width.base = 0; 00080 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00081 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00082 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00083 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00084 this->cell_width = u_cell_width.real; 00085 offset += sizeof(this->cell_width); 00086 union { 00087 float real; 00088 uint32_t base; 00089 } u_cell_height; 00090 u_cell_height.base = 0; 00091 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00092 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00093 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00094 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00095 this->cell_height = u_cell_height.real; 00096 offset += sizeof(this->cell_height); 00097 uint32_t cells_lengthT = ((uint32_t) (*(inbuffer + offset))); 00098 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00099 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00100 cells_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00101 offset += sizeof(this->cells_length); 00102 if(cells_lengthT > cells_length) 00103 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point)); 00104 cells_length = cells_lengthT; 00105 for( uint32_t i = 0; i < cells_length; i++){ 00106 offset += this->st_cells.deserialize(inbuffer + offset); 00107 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point)); 00108 } 00109 return offset; 00110 } 00111 00112 const char * getType(){ return "nav_msgs/GridCells"; }; 00113 const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; }; 00114 00115 }; 00116 00117 } 00118 #endif
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