hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

sensor_msgs/LaserScan.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_sensor_msgs_LaserScan_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_LaserScan_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 "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class LaserScan : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 17 _header_type header;
Gary Servin 0:04ac6be8229a 18 typedef float _angle_min_type;
Gary Servin 0:04ac6be8229a 19 _angle_min_type angle_min;
Gary Servin 0:04ac6be8229a 20 typedef float _angle_max_type;
Gary Servin 0:04ac6be8229a 21 _angle_max_type angle_max;
Gary Servin 0:04ac6be8229a 22 typedef float _angle_increment_type;
Gary Servin 0:04ac6be8229a 23 _angle_increment_type angle_increment;
Gary Servin 0:04ac6be8229a 24 typedef float _time_increment_type;
Gary Servin 0:04ac6be8229a 25 _time_increment_type time_increment;
Gary Servin 0:04ac6be8229a 26 typedef float _scan_time_type;
Gary Servin 0:04ac6be8229a 27 _scan_time_type scan_time;
Gary Servin 0:04ac6be8229a 28 typedef float _range_min_type;
Gary Servin 0:04ac6be8229a 29 _range_min_type range_min;
Gary Servin 0:04ac6be8229a 30 typedef float _range_max_type;
Gary Servin 0:04ac6be8229a 31 _range_max_type range_max;
Gary Servin 0:04ac6be8229a 32 uint32_t ranges_length;
Gary Servin 0:04ac6be8229a 33 typedef float _ranges_type;
Gary Servin 0:04ac6be8229a 34 _ranges_type st_ranges;
Gary Servin 0:04ac6be8229a 35 _ranges_type * ranges;
Gary Servin 0:04ac6be8229a 36 uint32_t intensities_length;
Gary Servin 0:04ac6be8229a 37 typedef float _intensities_type;
Gary Servin 0:04ac6be8229a 38 _intensities_type st_intensities;
Gary Servin 0:04ac6be8229a 39 _intensities_type * intensities;
Gary Servin 0:04ac6be8229a 40
Gary Servin 0:04ac6be8229a 41 LaserScan():
Gary Servin 0:04ac6be8229a 42 header(),
Gary Servin 0:04ac6be8229a 43 angle_min(0),
Gary Servin 0:04ac6be8229a 44 angle_max(0),
Gary Servin 0:04ac6be8229a 45 angle_increment(0),
Gary Servin 0:04ac6be8229a 46 time_increment(0),
Gary Servin 0:04ac6be8229a 47 scan_time(0),
Gary Servin 0:04ac6be8229a 48 range_min(0),
Gary Servin 0:04ac6be8229a 49 range_max(0),
Gary Servin 0:04ac6be8229a 50 ranges_length(0), ranges(NULL),
Gary Servin 0:04ac6be8229a 51 intensities_length(0), intensities(NULL)
Gary Servin 0:04ac6be8229a 52 {
Gary Servin 0:04ac6be8229a 53 }
Gary Servin 0:04ac6be8229a 54
Gary Servin 0:04ac6be8229a 55 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 56 {
Gary Servin 0:04ac6be8229a 57 int offset = 0;
Gary Servin 0:04ac6be8229a 58 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 59 union {
Gary Servin 0:04ac6be8229a 60 float real;
Gary Servin 0:04ac6be8229a 61 uint32_t base;
Gary Servin 0:04ac6be8229a 62 } u_angle_min;
Gary Servin 0:04ac6be8229a 63 u_angle_min.real = this->angle_min;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 offset += sizeof(this->angle_min);
Gary Servin 0:04ac6be8229a 69 union {
Gary Servin 0:04ac6be8229a 70 float real;
Gary Servin 0:04ac6be8229a 71 uint32_t base;
Gary Servin 0:04ac6be8229a 72 } u_angle_max;
Gary Servin 0:04ac6be8229a 73 u_angle_max.real = this->angle_max;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 offset += sizeof(this->angle_max);
Gary Servin 0:04ac6be8229a 79 union {
Gary Servin 0:04ac6be8229a 80 float real;
Gary Servin 0:04ac6be8229a 81 uint32_t base;
Gary Servin 0:04ac6be8229a 82 } u_angle_increment;
Gary Servin 0:04ac6be8229a 83 u_angle_increment.real = this->angle_increment;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 86 *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 87 *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 88 offset += sizeof(this->angle_increment);
Gary Servin 0:04ac6be8229a 89 union {
Gary Servin 0:04ac6be8229a 90 float real;
Gary Servin 0:04ac6be8229a 91 uint32_t base;
Gary Servin 0:04ac6be8229a 92 } u_time_increment;
Gary Servin 0:04ac6be8229a 93 u_time_increment.real = this->time_increment;
Gary Servin 0:04ac6be8229a 94 *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 95 *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 96 *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 97 *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->time_increment);
Gary Servin 0:04ac6be8229a 99 union {
Gary Servin 0:04ac6be8229a 100 float real;
Gary Servin 0:04ac6be8229a 101 uint32_t base;
Gary Servin 0:04ac6be8229a 102 } u_scan_time;
Gary Servin 0:04ac6be8229a 103 u_scan_time.real = this->scan_time;
Gary Servin 0:04ac6be8229a 104 *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 105 *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 106 *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 107 *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 108 offset += sizeof(this->scan_time);
Gary Servin 0:04ac6be8229a 109 union {
Gary Servin 0:04ac6be8229a 110 float real;
Gary Servin 0:04ac6be8229a 111 uint32_t base;
Gary Servin 0:04ac6be8229a 112 } u_range_min;
Gary Servin 0:04ac6be8229a 113 u_range_min.real = this->range_min;
Gary Servin 0:04ac6be8229a 114 *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 115 *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 116 *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 117 *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 118 offset += sizeof(this->range_min);
Gary Servin 0:04ac6be8229a 119 union {
Gary Servin 0:04ac6be8229a 120 float real;
Gary Servin 0:04ac6be8229a 121 uint32_t base;
Gary Servin 0:04ac6be8229a 122 } u_range_max;
Gary Servin 0:04ac6be8229a 123 u_range_max.real = this->range_max;
Gary Servin 0:04ac6be8229a 124 *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 125 *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 126 *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 127 *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 128 offset += sizeof(this->range_max);
Gary Servin 0:04ac6be8229a 129 *(outbuffer + offset + 0) = (this->ranges_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 130 *(outbuffer + offset + 1) = (this->ranges_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 131 *(outbuffer + offset + 2) = (this->ranges_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 132 *(outbuffer + offset + 3) = (this->ranges_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 133 offset += sizeof(this->ranges_length);
Gary Servin 0:04ac6be8229a 134 for( uint32_t i = 0; i < ranges_length; i++){
Gary Servin 0:04ac6be8229a 135 union {
Gary Servin 0:04ac6be8229a 136 float real;
Gary Servin 0:04ac6be8229a 137 uint32_t base;
Gary Servin 0:04ac6be8229a 138 } u_rangesi;
Gary Servin 0:04ac6be8229a 139 u_rangesi.real = this->ranges[i];
Gary Servin 0:04ac6be8229a 140 *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 141 *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 142 *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 143 *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 144 offset += sizeof(this->ranges[i]);
Gary Servin 0:04ac6be8229a 145 }
Gary Servin 0:04ac6be8229a 146 *(outbuffer + offset + 0) = (this->intensities_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 147 *(outbuffer + offset + 1) = (this->intensities_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 148 *(outbuffer + offset + 2) = (this->intensities_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 149 *(outbuffer + offset + 3) = (this->intensities_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 150 offset += sizeof(this->intensities_length);
Gary Servin 0:04ac6be8229a 151 for( uint32_t i = 0; i < intensities_length; i++){
Gary Servin 0:04ac6be8229a 152 union {
Gary Servin 0:04ac6be8229a 153 float real;
Gary Servin 0:04ac6be8229a 154 uint32_t base;
Gary Servin 0:04ac6be8229a 155 } u_intensitiesi;
Gary Servin 0:04ac6be8229a 156 u_intensitiesi.real = this->intensities[i];
Gary Servin 0:04ac6be8229a 157 *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 158 *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 159 *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 160 *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 161 offset += sizeof(this->intensities[i]);
Gary Servin 0:04ac6be8229a 162 }
Gary Servin 0:04ac6be8229a 163 return offset;
Gary Servin 0:04ac6be8229a 164 }
Gary Servin 0:04ac6be8229a 165
Gary Servin 0:04ac6be8229a 166 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 167 {
Gary Servin 0:04ac6be8229a 168 int offset = 0;
Gary Servin 0:04ac6be8229a 169 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 170 union {
Gary Servin 0:04ac6be8229a 171 float real;
Gary Servin 0:04ac6be8229a 172 uint32_t base;
Gary Servin 0:04ac6be8229a 173 } u_angle_min;
Gary Servin 0:04ac6be8229a 174 u_angle_min.base = 0;
Gary Servin 0:04ac6be8229a 175 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 176 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 177 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 178 u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 179 this->angle_min = u_angle_min.real;
Gary Servin 0:04ac6be8229a 180 offset += sizeof(this->angle_min);
Gary Servin 0:04ac6be8229a 181 union {
Gary Servin 0:04ac6be8229a 182 float real;
Gary Servin 0:04ac6be8229a 183 uint32_t base;
Gary Servin 0:04ac6be8229a 184 } u_angle_max;
Gary Servin 0:04ac6be8229a 185 u_angle_max.base = 0;
Gary Servin 0:04ac6be8229a 186 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 187 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 188 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 189 u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 190 this->angle_max = u_angle_max.real;
Gary Servin 0:04ac6be8229a 191 offset += sizeof(this->angle_max);
Gary Servin 0:04ac6be8229a 192 union {
Gary Servin 0:04ac6be8229a 193 float real;
Gary Servin 0:04ac6be8229a 194 uint32_t base;
Gary Servin 0:04ac6be8229a 195 } u_angle_increment;
Gary Servin 0:04ac6be8229a 196 u_angle_increment.base = 0;
Gary Servin 0:04ac6be8229a 197 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 198 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 199 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 200 u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 201 this->angle_increment = u_angle_increment.real;
Gary Servin 0:04ac6be8229a 202 offset += sizeof(this->angle_increment);
Gary Servin 0:04ac6be8229a 203 union {
Gary Servin 0:04ac6be8229a 204 float real;
Gary Servin 0:04ac6be8229a 205 uint32_t base;
Gary Servin 0:04ac6be8229a 206 } u_time_increment;
Gary Servin 0:04ac6be8229a 207 u_time_increment.base = 0;
Gary Servin 0:04ac6be8229a 208 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 209 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 210 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 211 u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 212 this->time_increment = u_time_increment.real;
Gary Servin 0:04ac6be8229a 213 offset += sizeof(this->time_increment);
Gary Servin 0:04ac6be8229a 214 union {
Gary Servin 0:04ac6be8229a 215 float real;
Gary Servin 0:04ac6be8229a 216 uint32_t base;
Gary Servin 0:04ac6be8229a 217 } u_scan_time;
Gary Servin 0:04ac6be8229a 218 u_scan_time.base = 0;
Gary Servin 0:04ac6be8229a 219 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 220 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 221 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 222 u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 223 this->scan_time = u_scan_time.real;
Gary Servin 0:04ac6be8229a 224 offset += sizeof(this->scan_time);
Gary Servin 0:04ac6be8229a 225 union {
Gary Servin 0:04ac6be8229a 226 float real;
Gary Servin 0:04ac6be8229a 227 uint32_t base;
Gary Servin 0:04ac6be8229a 228 } u_range_min;
Gary Servin 0:04ac6be8229a 229 u_range_min.base = 0;
Gary Servin 0:04ac6be8229a 230 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 231 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 232 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 233 u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 234 this->range_min = u_range_min.real;
Gary Servin 0:04ac6be8229a 235 offset += sizeof(this->range_min);
Gary Servin 0:04ac6be8229a 236 union {
Gary Servin 0:04ac6be8229a 237 float real;
Gary Servin 0:04ac6be8229a 238 uint32_t base;
Gary Servin 0:04ac6be8229a 239 } u_range_max;
Gary Servin 0:04ac6be8229a 240 u_range_max.base = 0;
Gary Servin 0:04ac6be8229a 241 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 242 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 243 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 244 u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 245 this->range_max = u_range_max.real;
Gary Servin 0:04ac6be8229a 246 offset += sizeof(this->range_max);
Gary Servin 0:04ac6be8229a 247 uint32_t ranges_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 248 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 249 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 250 ranges_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 251 offset += sizeof(this->ranges_length);
Gary Servin 0:04ac6be8229a 252 if(ranges_lengthT > ranges_length)
Gary Servin 0:04ac6be8229a 253 this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
Gary Servin 0:04ac6be8229a 254 ranges_length = ranges_lengthT;
Gary Servin 0:04ac6be8229a 255 for( uint32_t i = 0; i < ranges_length; i++){
Gary Servin 0:04ac6be8229a 256 union {
Gary Servin 0:04ac6be8229a 257 float real;
Gary Servin 0:04ac6be8229a 258 uint32_t base;
Gary Servin 0:04ac6be8229a 259 } u_st_ranges;
Gary Servin 0:04ac6be8229a 260 u_st_ranges.base = 0;
Gary Servin 0:04ac6be8229a 261 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 262 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 263 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 264 u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 265 this->st_ranges = u_st_ranges.real;
Gary Servin 0:04ac6be8229a 266 offset += sizeof(this->st_ranges);
Gary Servin 0:04ac6be8229a 267 memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
Gary Servin 0:04ac6be8229a 268 }
Gary Servin 0:04ac6be8229a 269 uint32_t intensities_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 270 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 271 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 272 intensities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 273 offset += sizeof(this->intensities_length);
Gary Servin 0:04ac6be8229a 274 if(intensities_lengthT > intensities_length)
Gary Servin 0:04ac6be8229a 275 this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
Gary Servin 0:04ac6be8229a 276 intensities_length = intensities_lengthT;
Gary Servin 0:04ac6be8229a 277 for( uint32_t i = 0; i < intensities_length; i++){
Gary Servin 0:04ac6be8229a 278 union {
Gary Servin 0:04ac6be8229a 279 float real;
Gary Servin 0:04ac6be8229a 280 uint32_t base;
Gary Servin 0:04ac6be8229a 281 } u_st_intensities;
Gary Servin 0:04ac6be8229a 282 u_st_intensities.base = 0;
Gary Servin 0:04ac6be8229a 283 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 284 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 285 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 286 u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 287 this->st_intensities = u_st_intensities.real;
Gary Servin 0:04ac6be8229a 288 offset += sizeof(this->st_intensities);
Gary Servin 0:04ac6be8229a 289 memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
Gary Servin 0:04ac6be8229a 290 }
Gary Servin 0:04ac6be8229a 291 return offset;
Gary Servin 0:04ac6be8229a 292 }
Gary Servin 0:04ac6be8229a 293
Gary Servin 0:04ac6be8229a 294 const char * getType(){ return "sensor_msgs/LaserScan"; };
Gary Servin 0:04ac6be8229a 295 const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
Gary Servin 0:04ac6be8229a 296
Gary Servin 0:04ac6be8229a 297 };
Gary Servin 0:04ac6be8229a 298
Gary Servin 0:04ac6be8229a 299 }
Gary Servin 0:04ac6be8229a 300 #endif