ozgur erbulan / ros_lib_indigo

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Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

nav_msgs/OccupancyGrid.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_OccupancyGrid_h
garyservin 0:fd24f7ca9688 2 #define _ROS_nav_msgs_OccupancyGrid_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 "nav_msgs/MapMetaData.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 OccupancyGrid : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 nav_msgs::MapMetaData info;
garyservin 0:fd24f7ca9688 19 uint8_t data_length;
garyservin 0:fd24f7ca9688 20 int8_t st_data;
garyservin 0:fd24f7ca9688 21 int8_t * data;
garyservin 0:fd24f7ca9688 22
garyservin 0:fd24f7ca9688 23 OccupancyGrid():
garyservin 0:fd24f7ca9688 24 header(),
garyservin 0:fd24f7ca9688 25 info(),
garyservin 0:fd24f7ca9688 26 data_length(0), data(NULL)
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 }
garyservin 0:fd24f7ca9688 29
garyservin 0:fd24f7ca9688 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 int offset = 0;
garyservin 0:fd24f7ca9688 33 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 34 offset += this->info.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset++) = data_length;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 39 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 40 union {
garyservin 0:fd24f7ca9688 41 int8_t real;
garyservin 0:fd24f7ca9688 42 uint8_t base;
garyservin 0:fd24f7ca9688 43 } u_datai;
garyservin 0:fd24f7ca9688 44 u_datai.real = this->data[i];
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 46 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48 return offset;
garyservin 0:fd24f7ca9688 49 }
garyservin 0:fd24f7ca9688 50
garyservin 0:fd24f7ca9688 51 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 52 {
garyservin 0:fd24f7ca9688 53 int offset = 0;
garyservin 0:fd24f7ca9688 54 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 55 offset += this->info.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 56 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 57 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 58 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
garyservin 0:fd24f7ca9688 59 offset += 3;
garyservin 0:fd24f7ca9688 60 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 61 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 62 union {
garyservin 0:fd24f7ca9688 63 int8_t real;
garyservin 0:fd24f7ca9688 64 uint8_t base;
garyservin 0:fd24f7ca9688 65 } u_st_data;
garyservin 0:fd24f7ca9688 66 u_st_data.base = 0;
garyservin 0:fd24f7ca9688 67 u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 68 this->st_data = u_st_data.real;
garyservin 0:fd24f7ca9688 69 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 70 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
garyservin 0:fd24f7ca9688 71 }
garyservin 0:fd24f7ca9688 72 return offset;
garyservin 0:fd24f7ca9688 73 }
garyservin 0:fd24f7ca9688 74
garyservin 0:fd24f7ca9688 75 const char * getType(){ return "nav_msgs/OccupancyGrid"; };
garyservin 0:fd24f7ca9688 76 const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
garyservin 0:fd24f7ca9688 77
garyservin 0:fd24f7ca9688 78 };
garyservin 0:fd24f7ca9688 79
garyservin 0:fd24f7ca9688 80 }
garyservin 0:fd24f7ca9688 81 #endif