Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
map_msgs/GetMapROI.h@2:5d429be7d0aa, 2020-11-02 (annotated)
- Committer:
- sgrsn
- Date:
- Mon Nov 02 09:00:01 2020 +0000
- Revision:
- 2:5d429be7d0aa
- Parent:
- 0:04ac6be8229a
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_SERVICE_GetMapROI_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_SERVICE_GetMapROI_h |
Gary Servin |
0:04ac6be8229a | 3 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 4 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 7 | #include "nav_msgs/OccupancyGrid.h" |
Gary Servin |
0:04ac6be8229a | 8 | |
Gary Servin |
0:04ac6be8229a | 9 | namespace map_msgs |
Gary Servin |
0:04ac6be8229a | 10 | { |
Gary Servin |
0:04ac6be8229a | 11 | |
Gary Servin |
0:04ac6be8229a | 12 | static const char GETMAPROI[] = "map_msgs/GetMapROI"; |
Gary Servin |
0:04ac6be8229a | 13 | |
Gary Servin |
0:04ac6be8229a | 14 | class GetMapROIRequest : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 15 | { |
Gary Servin |
0:04ac6be8229a | 16 | public: |
Gary Servin |
0:04ac6be8229a | 17 | typedef double _x_type; |
Gary Servin |
0:04ac6be8229a | 18 | _x_type x; |
Gary Servin |
0:04ac6be8229a | 19 | typedef double _y_type; |
Gary Servin |
0:04ac6be8229a | 20 | _y_type y; |
Gary Servin |
0:04ac6be8229a | 21 | typedef double _l_x_type; |
Gary Servin |
0:04ac6be8229a | 22 | _l_x_type l_x; |
Gary Servin |
0:04ac6be8229a | 23 | typedef double _l_y_type; |
Gary Servin |
0:04ac6be8229a | 24 | _l_y_type l_y; |
Gary Servin |
0:04ac6be8229a | 25 | |
Gary Servin |
0:04ac6be8229a | 26 | GetMapROIRequest(): |
Gary Servin |
0:04ac6be8229a | 27 | x(0), |
Gary Servin |
0:04ac6be8229a | 28 | y(0), |
Gary Servin |
0:04ac6be8229a | 29 | l_x(0), |
Gary Servin |
0:04ac6be8229a | 30 | l_y(0) |
Gary Servin |
0:04ac6be8229a | 31 | { |
Gary Servin |
0:04ac6be8229a | 32 | } |
Gary Servin |
0:04ac6be8229a | 33 | |
Gary Servin |
0:04ac6be8229a | 34 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 35 | { |
Gary Servin |
0:04ac6be8229a | 36 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 37 | union { |
Gary Servin |
0:04ac6be8229a | 38 | double real; |
Gary Servin |
0:04ac6be8229a | 39 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 40 | } u_x; |
Gary Servin |
0:04ac6be8229a | 41 | u_x.real = this->x; |
Gary Servin |
0:04ac6be8229a | 42 | *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 43 | *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 44 | *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 45 | *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 46 | *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 47 | *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 48 | *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 49 | *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 50 | offset += sizeof(this->x); |
Gary Servin |
0:04ac6be8229a | 51 | union { |
Gary Servin |
0:04ac6be8229a | 52 | double real; |
Gary Servin |
0:04ac6be8229a | 53 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 54 | } u_y; |
Gary Servin |
0:04ac6be8229a | 55 | u_y.real = this->y; |
Gary Servin |
0:04ac6be8229a | 56 | *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 57 | *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 58 | *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 59 | *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 60 | *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 61 | *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 62 | *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 63 | *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 64 | offset += sizeof(this->y); |
Gary Servin |
0:04ac6be8229a | 65 | union { |
Gary Servin |
0:04ac6be8229a | 66 | double real; |
Gary Servin |
0:04ac6be8229a | 67 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 68 | } u_l_x; |
Gary Servin |
0:04ac6be8229a | 69 | u_l_x.real = this->l_x; |
Gary Servin |
0:04ac6be8229a | 70 | *(outbuffer + offset + 0) = (u_l_x.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 71 | *(outbuffer + offset + 1) = (u_l_x.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 72 | *(outbuffer + offset + 2) = (u_l_x.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 73 | *(outbuffer + offset + 3) = (u_l_x.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 74 | *(outbuffer + offset + 4) = (u_l_x.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 75 | *(outbuffer + offset + 5) = (u_l_x.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 76 | *(outbuffer + offset + 6) = (u_l_x.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 77 | *(outbuffer + offset + 7) = (u_l_x.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 78 | offset += sizeof(this->l_x); |
Gary Servin |
0:04ac6be8229a | 79 | union { |
Gary Servin |
0:04ac6be8229a | 80 | double real; |
Gary Servin |
0:04ac6be8229a | 81 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 82 | } u_l_y; |
Gary Servin |
0:04ac6be8229a | 83 | u_l_y.real = this->l_y; |
Gary Servin |
0:04ac6be8229a | 84 | *(outbuffer + offset + 0) = (u_l_y.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 85 | *(outbuffer + offset + 1) = (u_l_y.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 86 | *(outbuffer + offset + 2) = (u_l_y.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 87 | *(outbuffer + offset + 3) = (u_l_y.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 88 | *(outbuffer + offset + 4) = (u_l_y.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 89 | *(outbuffer + offset + 5) = (u_l_y.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 90 | *(outbuffer + offset + 6) = (u_l_y.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 91 | *(outbuffer + offset + 7) = (u_l_y.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 92 | offset += sizeof(this->l_y); |
Gary Servin |
0:04ac6be8229a | 93 | return offset; |
Gary Servin |
0:04ac6be8229a | 94 | } |
Gary Servin |
0:04ac6be8229a | 95 | |
Gary Servin |
0:04ac6be8229a | 96 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 97 | { |
Gary Servin |
0:04ac6be8229a | 98 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 99 | union { |
Gary Servin |
0:04ac6be8229a | 100 | double real; |
Gary Servin |
0:04ac6be8229a | 101 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 102 | } u_x; |
Gary Servin |
0:04ac6be8229a | 103 | u_x.base = 0; |
Gary Servin |
0:04ac6be8229a | 104 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 105 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 106 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 107 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 108 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 109 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 110 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 111 | u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 112 | this->x = u_x.real; |
Gary Servin |
0:04ac6be8229a | 113 | offset += sizeof(this->x); |
Gary Servin |
0:04ac6be8229a | 114 | union { |
Gary Servin |
0:04ac6be8229a | 115 | double real; |
Gary Servin |
0:04ac6be8229a | 116 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 117 | } u_y; |
Gary Servin |
0:04ac6be8229a | 118 | u_y.base = 0; |
Gary Servin |
0:04ac6be8229a | 119 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 120 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 121 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 122 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 123 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 124 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 125 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 126 | u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 127 | this->y = u_y.real; |
Gary Servin |
0:04ac6be8229a | 128 | offset += sizeof(this->y); |
Gary Servin |
0:04ac6be8229a | 129 | union { |
Gary Servin |
0:04ac6be8229a | 130 | double real; |
Gary Servin |
0:04ac6be8229a | 131 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 132 | } u_l_x; |
Gary Servin |
0:04ac6be8229a | 133 | u_l_x.base = 0; |
Gary Servin |
0:04ac6be8229a | 134 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 135 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 136 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 137 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 138 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 139 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 140 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 141 | u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 142 | this->l_x = u_l_x.real; |
Gary Servin |
0:04ac6be8229a | 143 | offset += sizeof(this->l_x); |
Gary Servin |
0:04ac6be8229a | 144 | union { |
Gary Servin |
0:04ac6be8229a | 145 | double real; |
Gary Servin |
0:04ac6be8229a | 146 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 147 | } u_l_y; |
Gary Servin |
0:04ac6be8229a | 148 | u_l_y.base = 0; |
Gary Servin |
0:04ac6be8229a | 149 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 150 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 151 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 152 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 153 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 154 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 155 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 156 | u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 157 | this->l_y = u_l_y.real; |
Gary Servin |
0:04ac6be8229a | 158 | offset += sizeof(this->l_y); |
Gary Servin |
0:04ac6be8229a | 159 | return offset; |
Gary Servin |
0:04ac6be8229a | 160 | } |
Gary Servin |
0:04ac6be8229a | 161 | |
Gary Servin |
0:04ac6be8229a | 162 | const char * getType(){ return GETMAPROI; }; |
Gary Servin |
0:04ac6be8229a | 163 | const char * getMD5(){ return "43c2ff8f45af555c0eaf070c401e9a47"; }; |
Gary Servin |
0:04ac6be8229a | 164 | |
Gary Servin |
0:04ac6be8229a | 165 | }; |
Gary Servin |
0:04ac6be8229a | 166 | |
Gary Servin |
0:04ac6be8229a | 167 | class GetMapROIResponse : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 168 | { |
Gary Servin |
0:04ac6be8229a | 169 | public: |
Gary Servin |
0:04ac6be8229a | 170 | typedef nav_msgs::OccupancyGrid _sub_map_type; |
Gary Servin |
0:04ac6be8229a | 171 | _sub_map_type sub_map; |
Gary Servin |
0:04ac6be8229a | 172 | |
Gary Servin |
0:04ac6be8229a | 173 | GetMapROIResponse(): |
Gary Servin |
0:04ac6be8229a | 174 | sub_map() |
Gary Servin |
0:04ac6be8229a | 175 | { |
Gary Servin |
0:04ac6be8229a | 176 | } |
Gary Servin |
0:04ac6be8229a | 177 | |
Gary Servin |
0:04ac6be8229a | 178 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 179 | { |
Gary Servin |
0:04ac6be8229a | 180 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 181 | offset += this->sub_map.serialize(outbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 182 | return offset; |
Gary Servin |
0:04ac6be8229a | 183 | } |
Gary Servin |
0:04ac6be8229a | 184 | |
Gary Servin |
0:04ac6be8229a | 185 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 186 | { |
Gary Servin |
0:04ac6be8229a | 187 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 188 | offset += this->sub_map.deserialize(inbuffer + offset); |
Gary Servin |
0:04ac6be8229a | 189 | return offset; |
Gary Servin |
0:04ac6be8229a | 190 | } |
Gary Servin |
0:04ac6be8229a | 191 | |
Gary Servin |
0:04ac6be8229a | 192 | const char * getType(){ return GETMAPROI; }; |
Gary Servin |
0:04ac6be8229a | 193 | const char * getMD5(){ return "4d1986519c00d81967d2891a606b234c"; }; |
Gary Servin |
0:04ac6be8229a | 194 | |
Gary Servin |
0:04ac6be8229a | 195 | }; |
Gary Servin |
0:04ac6be8229a | 196 | |
Gary Servin |
0:04ac6be8229a | 197 | class GetMapROI { |
Gary Servin |
0:04ac6be8229a | 198 | public: |
Gary Servin |
0:04ac6be8229a | 199 | typedef GetMapROIRequest Request; |
Gary Servin |
0:04ac6be8229a | 200 | typedef GetMapROIResponse Response; |
Gary Servin |
0:04ac6be8229a | 201 | }; |
Gary Servin |
0:04ac6be8229a | 202 | |
Gary Servin |
0:04ac6be8229a | 203 | } |
Gary Servin |
0:04ac6be8229a | 204 | #endif |