Diff: sensor_msgs/LaserScan.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/LaserScan.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,282 @@
+#ifndef _ROS_sensor_msgs_LaserScan_h
+#define _ROS_sensor_msgs_LaserScan_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class LaserScan : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      float angle_min;
+      float angle_max;
+      float angle_increment;
+      float time_increment;
+      float scan_time;
+      float range_min;
+      float range_max;
+      uint8_t ranges_length;
+      float st_ranges;
+      float * ranges;
+      uint8_t intensities_length;
+      float st_intensities;
+      float * intensities;
+
+    LaserScan():
+      header(),
+      angle_min(0),
+      angle_max(0),
+      angle_increment(0),
+      time_increment(0),
+      scan_time(0),
+      range_min(0),
+      range_max(0),
+      ranges_length(0), ranges(NULL),
+      intensities_length(0), intensities(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.real = this->angle_min;
+      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.real = this->angle_max;
+      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.real = this->angle_increment;
+      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.real = this->time_increment;
+      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.real = this->scan_time;
+      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.real = this->range_min;
+      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.real = this->range_max;
+      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_max);
+      *(outbuffer + offset++) = ranges_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_rangesi;
+      u_rangesi.real = this->ranges[i];
+      *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ranges[i]);
+      }
+      *(outbuffer + offset++) = intensities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_intensitiesi;
+      u_intensitiesi.real = this->intensities[i];
+      *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->intensities[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.base = 0;
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_min = u_angle_min.real;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.base = 0;
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_max = u_angle_max.real;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.base = 0;
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_increment = u_angle_increment.real;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.base = 0;
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->time_increment = u_time_increment.real;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.base = 0;
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scan_time = u_scan_time.real;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.base = 0;
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_min = u_range_min.real;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.base = 0;
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_max = u_range_max.real;
+      offset += sizeof(this->range_max);
+      uint8_t ranges_lengthT = *(inbuffer + offset++);
+      if(ranges_lengthT > ranges_length)
+        this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
+      offset += 3;
+      ranges_length = ranges_lengthT;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_ranges;
+      u_st_ranges.base = 0;
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_ranges = u_st_ranges.real;
+      offset += sizeof(this->st_ranges);
+        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
+      }
+      uint8_t intensities_lengthT = *(inbuffer + offset++);
+      if(intensities_lengthT > intensities_length)
+        this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
+      offset += 3;
+      intensities_length = intensities_lengthT;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_intensities;
+      u_st_intensities.base = 0;
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_intensities = u_st_intensities.real;
+      offset += sizeof(this->st_intensities);
+        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/LaserScan"; };
+    const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
+
+  };
+
+}
+#endif
\ No newline at end of file