hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

map_msgs/ProjectedMap.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?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_map_msgs_ProjectedMap_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_map_msgs_ProjectedMap_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "nav_msgs/OccupancyGrid.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace map_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class ProjectedMap : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef nav_msgs::OccupancyGrid _map_type;
Gary Servin 0:04ac6be8229a 17 _map_type map;
Gary Servin 0:04ac6be8229a 18 typedef double _min_z_type;
Gary Servin 0:04ac6be8229a 19 _min_z_type min_z;
Gary Servin 0:04ac6be8229a 20 typedef double _max_z_type;
Gary Servin 0:04ac6be8229a 21 _max_z_type max_z;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 ProjectedMap():
Gary Servin 0:04ac6be8229a 24 map(),
Gary Servin 0:04ac6be8229a 25 min_z(0),
Gary Servin 0:04ac6be8229a 26 max_z(0)
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 }
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 31 {
Gary Servin 0:04ac6be8229a 32 int offset = 0;
Gary Servin 0:04ac6be8229a 33 offset += this->map.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 34 union {
Gary Servin 0:04ac6be8229a 35 double real;
Gary Servin 0:04ac6be8229a 36 uint64_t base;
Gary Servin 0:04ac6be8229a 37 } u_min_z;
Gary Servin 0:04ac6be8229a 38 u_min_z.real = this->min_z;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->min_z);
Gary Servin 0:04ac6be8229a 48 union {
Gary Servin 0:04ac6be8229a 49 double real;
Gary Servin 0:04ac6be8229a 50 uint64_t base;
Gary Servin 0:04ac6be8229a 51 } u_max_z;
Gary Servin 0:04ac6be8229a 52 u_max_z.real = this->max_z;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 offset += sizeof(this->max_z);
Gary Servin 0:04ac6be8229a 62 return offset;
Gary Servin 0:04ac6be8229a 63 }
Gary Servin 0:04ac6be8229a 64
Gary Servin 0:04ac6be8229a 65 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 66 {
Gary Servin 0:04ac6be8229a 67 int offset = 0;
Gary Servin 0:04ac6be8229a 68 offset += this->map.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 69 union {
Gary Servin 0:04ac6be8229a 70 double real;
Gary Servin 0:04ac6be8229a 71 uint64_t base;
Gary Servin 0:04ac6be8229a 72 } u_min_z;
Gary Servin 0:04ac6be8229a 73 u_min_z.base = 0;
Gary Servin 0:04ac6be8229a 74 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 75 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 76 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 77 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 78 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 79 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 80 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 81 u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 82 this->min_z = u_min_z.real;
Gary Servin 0:04ac6be8229a 83 offset += sizeof(this->min_z);
Gary Servin 0:04ac6be8229a 84 union {
Gary Servin 0:04ac6be8229a 85 double real;
Gary Servin 0:04ac6be8229a 86 uint64_t base;
Gary Servin 0:04ac6be8229a 87 } u_max_z;
Gary Servin 0:04ac6be8229a 88 u_max_z.base = 0;
Gary Servin 0:04ac6be8229a 89 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 90 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 91 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 92 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 93 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 94 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 95 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 96 u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 97 this->max_z = u_max_z.real;
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->max_z);
Gary Servin 0:04ac6be8229a 99 return offset;
Gary Servin 0:04ac6be8229a 100 }
Gary Servin 0:04ac6be8229a 101
Gary Servin 0:04ac6be8229a 102 const char * getType(){ return "map_msgs/ProjectedMap"; };
Gary Servin 0:04ac6be8229a 103 const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };
Gary Servin 0:04ac6be8229a 104
Gary Servin 0:04ac6be8229a 105 };
Gary Servin 0:04ac6be8229a 106
Gary Servin 0:04ac6be8229a 107 }
Gary Servin 0:04ac6be8229a 108 #endif