OccupancyGrid.h

00001 #ifndef _ROS_nav_msgs_OccupancyGrid_h
00002 #define _ROS_nav_msgs_OccupancyGrid_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "nav_msgs/MapMetaData.h"
00010 
00011 namespace nav_msgs
00012 {
00013 
00014   class OccupancyGrid : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       typedef nav_msgs::MapMetaData _info_type;
00020       _info_type info;
00021       uint32_t data_length;
00022       typedef int8_t _data_type;
00023       _data_type st_data;
00024       _data_type * data;
00025 
00026     OccupancyGrid():
00027       header(),
00028       info(),
00029       data_length(0), data(NULL)
00030     {
00031     }
00032 
00033     virtual int serialize(unsigned char *outbuffer) const
00034     {
00035       int offset = 0;
00036       offset += this->header.serialize(outbuffer + offset);
00037       offset += this->info.serialize(outbuffer + offset);
00038       *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
00039       *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
00040       *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
00041       *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
00042       offset += sizeof(this->data_length);
00043       for( uint32_t i = 0; i < data_length; i++){
00044       union {
00045         int8_t real;
00046         uint8_t base;
00047       } u_datai;
00048       u_datai.real = this->data[i];
00049       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00050       offset += sizeof(this->data[i]);
00051       }
00052       return offset;
00053     }
00054 
00055     virtual int deserialize(unsigned char *inbuffer)
00056     {
00057       int offset = 0;
00058       offset += this->header.deserialize(inbuffer + offset);
00059       offset += this->info.deserialize(inbuffer + offset);
00060       uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00061       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00062       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00063       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00064       offset += sizeof(this->data_length);
00065       if(data_lengthT > data_length)
00066         this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
00067       data_length = data_lengthT;
00068       for( uint32_t i = 0; i < data_length; i++){
00069       union {
00070         int8_t real;
00071         uint8_t base;
00072       } u_st_data;
00073       u_st_data.base = 0;
00074       u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00075       this->st_data = u_st_data.real;
00076       offset += sizeof(this->st_data);
00077         memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
00078       }
00079      return offset;
00080     }
00081 
00082     const char * getType(){ return "nav_msgs/OccupancyGrid"; };
00083     const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
00084 
00085   };
00086 
00087 }
00088 #endif