00001 #ifndef _ROS_nav_msgs_GridCells_h
00002 #define _ROS_nav_msgs_GridCells_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 "geometry_msgs/Point.h"
00010
00011 namespace nav_msgs
00012 {
00013
00014 class GridCells : public ros::Msg
00015 {
00016 public:
00017 std_msgs::Header header;
00018 float cell_width;
00019 float cell_height;
00020 uint8_t cells_length;
00021 geometry_msgs::Point st_cells;
00022 geometry_msgs::Point * cells;
00023
00024 virtual int serialize(unsigned char *outbuffer) const
00025 {
00026 int offset = 0;
00027 offset += this->header.serialize(outbuffer + offset);
00028 union {
00029 float real;
00030 uint32_t base;
00031 } u_cell_width;
00032 u_cell_width.real = this->cell_width;
00033 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
00034 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
00035 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
00036 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
00037 offset += sizeof(this->cell_width);
00038 union {
00039 float real;
00040 uint32_t base;
00041 } u_cell_height;
00042 u_cell_height.real = this->cell_height;
00043 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
00044 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
00045 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
00046 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
00047 offset += sizeof(this->cell_height);
00048 *(outbuffer + offset++) = cells_length;
00049 *(outbuffer + offset++) = 0;
00050 *(outbuffer + offset++) = 0;
00051 *(outbuffer + offset++) = 0;
00052 for( uint8_t i = 0; i < cells_length; i++){
00053 offset += this->cells[i].serialize(outbuffer + offset);
00054 }
00055 return offset;
00056 }
00057
00058 virtual int deserialize(unsigned char *inbuffer)
00059 {
00060 int offset = 0;
00061 offset += this->header.deserialize(inbuffer + offset);
00062 union {
00063 float real;
00064 uint32_t base;
00065 } u_cell_width;
00066 u_cell_width.base = 0;
00067 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00068 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00069 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00070 u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00071 this->cell_width = u_cell_width.real;
00072 offset += sizeof(this->cell_width);
00073 union {
00074 float real;
00075 uint32_t base;
00076 } u_cell_height;
00077 u_cell_height.base = 0;
00078 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00079 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00080 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00081 u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00082 this->cell_height = u_cell_height.real;
00083 offset += sizeof(this->cell_height);
00084 uint8_t cells_lengthT = *(inbuffer + offset++);
00085 if(cells_lengthT > cells_length)
00086 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
00087 offset += 3;
00088 cells_length = cells_lengthT;
00089 for( uint8_t i = 0; i < cells_length; i++){
00090 offset += this->st_cells.deserialize(inbuffer + offset);
00091 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
00092 }
00093 return offset;
00094 }
00095
00096 const char * getType(){ return "nav_msgs/GridCells"; };
00097 const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
00098
00099 };
00100
00101 }
00102 #endif
