Quadrotor

#ifndef _ROS_sensor_msgs_LaserScan_h

#define _ROS_sensor_msgs_LaserScan_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

#include "std_msgs/Header.h"

namespace sensor_msgs

{

  class LaserScan : public ros::Msg

  {

    public:

      std_msgs::Header header;

      float angle_min;

      float angle_max;

      float angle_increment;

      float time_increment;

      float scan_time;

      float range_min;

      float range_max;

      uint8_t ranges_length;

      float st_ranges;

      float * ranges;

      uint8_t intensities_length;

      float st_intensities;

      float * intensities;

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      offset += this->header.serialize(outbuffer + offset);

      union {

        float real;

        uint32_t base;

      } u_angle_min;

      u_angle_min.real = this->angle_min;

      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->angle_min);

      union {

        float real;

        uint32_t base;

      } u_angle_max;

      u_angle_max.real = this->angle_max;

      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->angle_max);

      union {

        float real;

        uint32_t base;

      } u_angle_increment;

      u_angle_increment.real = this->angle_increment;

      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->angle_increment);

      union {

        float real;

        uint32_t base;

      } u_time_increment;

      u_time_increment.real = this->time_increment;

      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->time_increment);

      union {

        float real;

        uint32_t base;

      } u_scan_time;

      u_scan_time.real = this->scan_time;

      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->scan_time);

      union {

        float real;

        uint32_t base;

      } u_range_min;

      u_range_min.real = this->range_min;

      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->range_min);

      union {

        float real;

        uint32_t base;

      } u_range_max;

      u_range_max.real = this->range_max;

      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->range_max);

      *(outbuffer + offset++) = ranges_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      for( uint8_t i = 0; i < ranges_length; i++){

      union {

        float real;

        uint32_t base;

      } u_rangesi;

      u_rangesi.real = this->ranges[i];

      *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->ranges[i]);

      }

      *(outbuffer + offset++) = intensities_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      for( uint8_t i = 0; i < intensities_length; i++){

      union {

        float real;

        uint32_t base;

      } u_intensitiesi;

      u_intensitiesi.real = this->intensities[i];

      *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;

      *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;

      *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;

      *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;

      offset += sizeof(this->intensities[i]);

      }

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      offset += this->header.deserialize(inbuffer + offset);

      union {

        float real;

        uint32_t base;

      } u_angle_min;

      u_angle_min.base = 0;

      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->angle_min = u_angle_min.real;

      offset += sizeof(this->angle_min);

      union {

        float real;

        uint32_t base;

      } u_angle_max;

      u_angle_max.base = 0;

      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->angle_max = u_angle_max.real;

      offset += sizeof(this->angle_max);

      union {

        float real;

        uint32_t base;

      } u_angle_increment;

      u_angle_increment.base = 0;

      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->angle_increment = u_angle_increment.real;

      offset += sizeof(this->angle_increment);

      union {

        float real;

        uint32_t base;

      } u_time_increment;

      u_time_increment.base = 0;

      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->time_increment = u_time_increment.real;

      offset += sizeof(this->time_increment);

      union {

        float real;

        uint32_t base;

      } u_scan_time;

      u_scan_time.base = 0;

      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->scan_time = u_scan_time.real;

      offset += sizeof(this->scan_time);

      union {

        float real;

        uint32_t base;

      } u_range_min;

      u_range_min.base = 0;

      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->range_min = u_range_min.real;

      offset += sizeof(this->range_min);

      union {

        float real;

        uint32_t base;

      } u_range_max;

      u_range_max.base = 0;

      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->range_max = u_range_max.real;

      offset += sizeof(this->range_max);

      uint8_t ranges_lengthT = *(inbuffer + offset++);

      if(ranges_lengthT > ranges_length)

        this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));

      offset += 3;

      ranges_length = ranges_lengthT;

      for( uint8_t i = 0; i < ranges_length; i++){

      union {

        float real;

        uint32_t base;

      } u_st_ranges;

      u_st_ranges.base = 0;

      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->st_ranges = u_st_ranges.real;

      offset += sizeof(this->st_ranges);

        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));

      }

      uint8_t intensities_lengthT = *(inbuffer + offset++);

      if(intensities_lengthT > intensities_length)

        this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));

      offset += 3;

      intensities_length = intensities_lengthT;

      for( uint8_t i = 0; i < intensities_length; i++){

      union {

        float real;

        uint32_t base;

      } u_st_intensities;

      u_st_intensities.base = 0;

      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);

      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);

      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);

      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

      this->st_intensities = u_st_intensities.real;

      offset += sizeof(this->st_intensities);

        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));

      }

     return offset;

    }

    const char * getType(){ return "sensor_msgs/LaserScan"; };

    const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };

  };

}

#endif