It has only one change from original one. I added robotfeedback message on it.
Dependents: RobotFeedback mobileRobotITU
Fork of ros_lib_indigo by
nav_msgs/SetMap.h@4:80d9bee5079a, 2017-03-04 (annotated)
- Committer:
- randalthor
- Date:
- Sat Mar 04 14:07:56 2017 +0000
- Revision:
- 4:80d9bee5079a
- Parent:
- 0:fd24f7ca9688
fatih
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:fd24f7ca9688 | 1 | #ifndef _ROS_SERVICE_SetMap_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_SERVICE_SetMap_h |
garyservin | 0:fd24f7ca9688 | 3 | #include <stdint.h> |
garyservin | 0:fd24f7ca9688 | 4 | #include <string.h> |
garyservin | 0:fd24f7ca9688 | 5 | #include <stdlib.h> |
garyservin | 0:fd24f7ca9688 | 6 | #include "ros/msg.h" |
garyservin | 0:fd24f7ca9688 | 7 | #include "nav_msgs/OccupancyGrid.h" |
garyservin | 0:fd24f7ca9688 | 8 | #include "geometry_msgs/PoseWithCovarianceStamped.h" |
garyservin | 0:fd24f7ca9688 | 9 | |
garyservin | 0:fd24f7ca9688 | 10 | namespace nav_msgs |
garyservin | 0:fd24f7ca9688 | 11 | { |
garyservin | 0:fd24f7ca9688 | 12 | |
garyservin | 0:fd24f7ca9688 | 13 | static const char SETMAP[] = "nav_msgs/SetMap"; |
garyservin | 0:fd24f7ca9688 | 14 | |
garyservin | 0:fd24f7ca9688 | 15 | class SetMapRequest : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 16 | { |
garyservin | 0:fd24f7ca9688 | 17 | public: |
garyservin | 0:fd24f7ca9688 | 18 | nav_msgs::OccupancyGrid map; |
garyservin | 0:fd24f7ca9688 | 19 | geometry_msgs::PoseWithCovarianceStamped initial_pose; |
garyservin | 0:fd24f7ca9688 | 20 | |
garyservin | 0:fd24f7ca9688 | 21 | SetMapRequest(): |
garyservin | 0:fd24f7ca9688 | 22 | map(), |
garyservin | 0:fd24f7ca9688 | 23 | initial_pose() |
garyservin | 0:fd24f7ca9688 | 24 | { |
garyservin | 0:fd24f7ca9688 | 25 | } |
garyservin | 0:fd24f7ca9688 | 26 | |
garyservin | 0:fd24f7ca9688 | 27 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 28 | { |
garyservin | 0:fd24f7ca9688 | 29 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 30 | offset += this->map.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 31 | offset += this->initial_pose.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 32 | return offset; |
garyservin | 0:fd24f7ca9688 | 33 | } |
garyservin | 0:fd24f7ca9688 | 34 | |
garyservin | 0:fd24f7ca9688 | 35 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 36 | { |
garyservin | 0:fd24f7ca9688 | 37 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 38 | offset += this->map.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 39 | offset += this->initial_pose.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 40 | return offset; |
garyservin | 0:fd24f7ca9688 | 41 | } |
garyservin | 0:fd24f7ca9688 | 42 | |
garyservin | 0:fd24f7ca9688 | 43 | const char * getType(){ return SETMAP; }; |
garyservin | 0:fd24f7ca9688 | 44 | const char * getMD5(){ return "91149a20d7be299b87c340df8cc94fd4"; }; |
garyservin | 0:fd24f7ca9688 | 45 | |
garyservin | 0:fd24f7ca9688 | 46 | }; |
garyservin | 0:fd24f7ca9688 | 47 | |
garyservin | 0:fd24f7ca9688 | 48 | class SetMapResponse : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 49 | { |
garyservin | 0:fd24f7ca9688 | 50 | public: |
garyservin | 0:fd24f7ca9688 | 51 | bool success; |
garyservin | 0:fd24f7ca9688 | 52 | |
garyservin | 0:fd24f7ca9688 | 53 | SetMapResponse(): |
garyservin | 0:fd24f7ca9688 | 54 | success(0) |
garyservin | 0:fd24f7ca9688 | 55 | { |
garyservin | 0:fd24f7ca9688 | 56 | } |
garyservin | 0:fd24f7ca9688 | 57 | |
garyservin | 0:fd24f7ca9688 | 58 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 59 | { |
garyservin | 0:fd24f7ca9688 | 60 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 61 | union { |
garyservin | 0:fd24f7ca9688 | 62 | bool real; |
garyservin | 0:fd24f7ca9688 | 63 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 64 | } u_success; |
garyservin | 0:fd24f7ca9688 | 65 | u_success.real = this->success; |
garyservin | 0:fd24f7ca9688 | 66 | *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 67 | offset += sizeof(this->success); |
garyservin | 0:fd24f7ca9688 | 68 | return offset; |
garyservin | 0:fd24f7ca9688 | 69 | } |
garyservin | 0:fd24f7ca9688 | 70 | |
garyservin | 0:fd24f7ca9688 | 71 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 72 | { |
garyservin | 0:fd24f7ca9688 | 73 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 74 | union { |
garyservin | 0:fd24f7ca9688 | 75 | bool real; |
garyservin | 0:fd24f7ca9688 | 76 | uint8_t base; |
garyservin | 0:fd24f7ca9688 | 77 | } u_success; |
garyservin | 0:fd24f7ca9688 | 78 | u_success.base = 0; |
garyservin | 0:fd24f7ca9688 | 79 | u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 80 | this->success = u_success.real; |
garyservin | 0:fd24f7ca9688 | 81 | offset += sizeof(this->success); |
garyservin | 0:fd24f7ca9688 | 82 | return offset; |
garyservin | 0:fd24f7ca9688 | 83 | } |
garyservin | 0:fd24f7ca9688 | 84 | |
garyservin | 0:fd24f7ca9688 | 85 | const char * getType(){ return SETMAP; }; |
garyservin | 0:fd24f7ca9688 | 86 | const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; }; |
garyservin | 0:fd24f7ca9688 | 87 | |
garyservin | 0:fd24f7ca9688 | 88 | }; |
garyservin | 0:fd24f7ca9688 | 89 | |
garyservin | 0:fd24f7ca9688 | 90 | class SetMap { |
garyservin | 0:fd24f7ca9688 | 91 | public: |
garyservin | 0:fd24f7ca9688 | 92 | typedef SetMapRequest Request; |
garyservin | 0:fd24f7ca9688 | 93 | typedef SetMapResponse Response; |
garyservin | 0:fd24f7ca9688 | 94 | }; |
garyservin | 0:fd24f7ca9688 | 95 | |
garyservin | 0:fd24f7ca9688 | 96 | } |
garyservin | 0:fd24f7ca9688 | 97 | #endif |