ozgur erbulan / ros_lib_indigo

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Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

nav_msgs/GridCells.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_nav_msgs_GridCells_h
garyservin 0:fd24f7ca9688 2 #define _ROS_nav_msgs_GridCells_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/Point.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace nav_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class GridCells : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 float cell_width;
garyservin 0:fd24f7ca9688 19 float cell_height;
garyservin 0:fd24f7ca9688 20 uint8_t cells_length;
garyservin 0:fd24f7ca9688 21 geometry_msgs::Point st_cells;
garyservin 0:fd24f7ca9688 22 geometry_msgs::Point * cells;
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 GridCells():
garyservin 0:fd24f7ca9688 25 header(),
garyservin 0:fd24f7ca9688 26 cell_width(0),
garyservin 0:fd24f7ca9688 27 cell_height(0),
garyservin 0:fd24f7ca9688 28 cells_length(0), cells(NULL)
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 }
garyservin 0:fd24f7ca9688 31
garyservin 0:fd24f7ca9688 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 33 {
garyservin 0:fd24f7ca9688 34 int offset = 0;
garyservin 0:fd24f7ca9688 35 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 36 union {
garyservin 0:fd24f7ca9688 37 float real;
garyservin 0:fd24f7ca9688 38 uint32_t base;
garyservin 0:fd24f7ca9688 39 } u_cell_width;
garyservin 0:fd24f7ca9688 40 u_cell_width.real = this->cell_width;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 45 offset += sizeof(this->cell_width);
garyservin 0:fd24f7ca9688 46 union {
garyservin 0:fd24f7ca9688 47 float real;
garyservin 0:fd24f7ca9688 48 uint32_t base;
garyservin 0:fd24f7ca9688 49 } u_cell_height;
garyservin 0:fd24f7ca9688 50 u_cell_height.real = this->cell_height;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 55 offset += sizeof(this->cell_height);
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset++) = cells_length;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 60 for( uint8_t i = 0; i < cells_length; i++){
garyservin 0:fd24f7ca9688 61 offset += this->cells[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 62 }
garyservin 0:fd24f7ca9688 63 return offset;
garyservin 0:fd24f7ca9688 64 }
garyservin 0:fd24f7ca9688 65
garyservin 0:fd24f7ca9688 66 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 67 {
garyservin 0:fd24f7ca9688 68 int offset = 0;
garyservin 0:fd24f7ca9688 69 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 70 union {
garyservin 0:fd24f7ca9688 71 float real;
garyservin 0:fd24f7ca9688 72 uint32_t base;
garyservin 0:fd24f7ca9688 73 } u_cell_width;
garyservin 0:fd24f7ca9688 74 u_cell_width.base = 0;
garyservin 0:fd24f7ca9688 75 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 76 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 77 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 78 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 79 this->cell_width = u_cell_width.real;
garyservin 0:fd24f7ca9688 80 offset += sizeof(this->cell_width);
garyservin 0:fd24f7ca9688 81 union {
garyservin 0:fd24f7ca9688 82 float real;
garyservin 0:fd24f7ca9688 83 uint32_t base;
garyservin 0:fd24f7ca9688 84 } u_cell_height;
garyservin 0:fd24f7ca9688 85 u_cell_height.base = 0;
garyservin 0:fd24f7ca9688 86 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 87 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 88 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 89 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 90 this->cell_height = u_cell_height.real;
garyservin 0:fd24f7ca9688 91 offset += sizeof(this->cell_height);
garyservin 0:fd24f7ca9688 92 uint8_t cells_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 93 if(cells_lengthT > cells_length)
garyservin 0:fd24f7ca9688 94 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
garyservin 0:fd24f7ca9688 95 offset += 3;
garyservin 0:fd24f7ca9688 96 cells_length = cells_lengthT;
garyservin 0:fd24f7ca9688 97 for( uint8_t i = 0; i < cells_length; i++){
garyservin 0:fd24f7ca9688 98 offset += this->st_cells.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 99 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
garyservin 0:fd24f7ca9688 100 }
garyservin 0:fd24f7ca9688 101 return offset;
garyservin 0:fd24f7ca9688 102 }
garyservin 0:fd24f7ca9688 103
garyservin 0:fd24f7ca9688 104 const char * getType(){ return "nav_msgs/GridCells"; };
garyservin 0:fd24f7ca9688 105 const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
garyservin 0:fd24f7ca9688 106
garyservin 0:fd24f7ca9688 107 };
garyservin 0:fd24f7ca9688 108
garyservin 0:fd24f7ca9688 109 }
garyservin 0:fd24f7ca9688 110 #endif