YARP
Yet Another Robot Platform
MapMetaData.h
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1 /*
2  * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3  * SPDX-License-Identifier: BSD-3-Clause
4  */
5 
6 // This is an automatically generated file.
7 
8 // Generated from the following "nav_msgs/MapMetaData" msg definition:
9 // # This hold basic information about the characterists of the OccupancyGrid
10 //
11 // # The time at which the map was loaded
12 // time map_load_time
13 // # The map resolution [m/cell]
14 // float32 resolution
15 // # Map width [cells]
16 // uint32 width
17 // # Map height [cells]
18 // uint32 height
19 // # The origin of the map [m, m, rad]. This is the real-world pose of the
20 // # cell (0,0) in the map.
21 // geometry_msgs/Pose origin// Instances of this class can be read and written with YARP ports,
22 // using a ROS-compatible format.
23 
24 #ifndef YARP_ROSMSG_nav_msgs_MapMetaData_h
25 #define YARP_ROSMSG_nav_msgs_MapMetaData_h
26 
27 #include <yarp/os/Wire.h>
28 #include <yarp/os/Type.h>
29 #include <yarp/os/idl/WireTypes.h>
30 #include <string>
31 #include <vector>
32 #include <yarp/rosmsg/TickTime.h>
34 
35 namespace yarp {
36 namespace rosmsg {
37 namespace nav_msgs {
38 
40 {
41 public:
44  std::uint32_t width;
45  std::uint32_t height;
47 
49  map_load_time(),
50  resolution(0.0f),
51  width(0),
52  height(0),
53  origin()
54  {
55  }
56 
57  void clear()
58  {
59  // *** map_load_time ***
61 
62  // *** resolution ***
63  resolution = 0.0f;
64 
65  // *** width ***
66  width = 0;
67 
68  // *** height ***
69  height = 0;
70 
71  // *** origin ***
72  origin.clear();
73  }
74 
75  bool readBare(yarp::os::ConnectionReader& connection) override
76  {
77  // *** map_load_time ***
78  if (!map_load_time.read(connection)) {
79  return false;
80  }
81 
82  // *** resolution ***
83  resolution = connection.expectFloat32();
84 
85  // *** width ***
86  width = connection.expectInt32();
87 
88  // *** height ***
89  height = connection.expectInt32();
90 
91  // *** origin ***
92  if (!origin.read(connection)) {
93  return false;
94  }
95 
96  return !connection.isError();
97  }
98 
99  bool readBottle(yarp::os::ConnectionReader& connection) override
100  {
101  connection.convertTextMode();
102  yarp::os::idl::WireReader reader(connection);
103  if (!reader.readListHeader(5)) {
104  return false;
105  }
106 
107  // *** map_load_time ***
108  if (!map_load_time.read(connection)) {
109  return false;
110  }
111 
112  // *** resolution ***
113  resolution = reader.expectFloat32();
114 
115  // *** width ***
116  width = reader.expectInt32();
117 
118  // *** height ***
119  height = reader.expectInt32();
120 
121  // *** origin ***
122  if (!origin.read(connection)) {
123  return false;
124  }
125 
126  return !connection.isError();
127  }
128 
130  bool read(yarp::os::ConnectionReader& connection) override
131  {
132  return (connection.isBareMode() ? readBare(connection)
133  : readBottle(connection));
134  }
135 
136  bool writeBare(yarp::os::ConnectionWriter& connection) const override
137  {
138  // *** map_load_time ***
139  if (!map_load_time.write(connection)) {
140  return false;
141  }
142 
143  // *** resolution ***
144  connection.appendFloat32(resolution);
145 
146  // *** width ***
147  connection.appendInt32(width);
148 
149  // *** height ***
150  connection.appendInt32(height);
151 
152  // *** origin ***
153  if (!origin.write(connection)) {
154  return false;
155  }
156 
157  return !connection.isError();
158  }
159 
160  bool writeBottle(yarp::os::ConnectionWriter& connection) const override
161  {
162  connection.appendInt32(BOTTLE_TAG_LIST);
163  connection.appendInt32(5);
164 
165  // *** map_load_time ***
166  if (!map_load_time.write(connection)) {
167  return false;
168  }
169 
170  // *** resolution ***
171  connection.appendInt32(BOTTLE_TAG_FLOAT32);
172  connection.appendFloat32(resolution);
173 
174  // *** width ***
175  connection.appendInt32(BOTTLE_TAG_INT32);
176  connection.appendInt32(width);
177 
178  // *** height ***
179  connection.appendInt32(BOTTLE_TAG_INT32);
180  connection.appendInt32(height);
181 
182  // *** origin ***
183  if (!origin.write(connection)) {
184  return false;
185  }
186 
187  connection.convertTextMode();
188  return !connection.isError();
189  }
190 
192  bool write(yarp::os::ConnectionWriter& connection) const override
193  {
194  return (connection.isBareMode() ? writeBare(connection)
195  : writeBottle(connection));
196  }
197 
198  // This class will serialize ROS style or YARP style depending on protocol.
199  // If you need to force a serialization style, use one of these classes:
202 
203  // The name for this message, ROS will need this
204  static constexpr const char* typeName = "nav_msgs/MapMetaData";
205 
206  // The checksum for this message, ROS will need this
207  static constexpr const char* typeChecksum = "10cfc8a2818024d3248802c00c95f11b";
208 
209  // The source text for this message, ROS will need this
210  static constexpr const char* typeText = "\
211 # This hold basic information about the characterists of the OccupancyGrid\n\
212 \n\
213 # The time at which the map was loaded\n\
214 time map_load_time\n\
215 # The map resolution [m/cell]\n\
216 float32 resolution\n\
217 # Map width [cells]\n\
218 uint32 width\n\
219 # Map height [cells]\n\
220 uint32 height\n\
221 # The origin of the map [m, m, rad]. This is the real-world pose of the\n\
222 # cell (0,0) in the map.\n\
223 geometry_msgs/Pose origin\n\
224 ================================================================================\n\
225 MSG: geometry_msgs/Pose\n\
226 # A representation of pose in free space, composed of position and orientation. \n\
227 Point position\n\
228 Quaternion orientation\n\
229 \n\
230 ================================================================================\n\
231 MSG: geometry_msgs/Point\n\
232 # This contains the position of a point in free space\n\
233 float64 x\n\
234 float64 y\n\
235 float64 z\n\
236 \n\
237 ================================================================================\n\
238 MSG: geometry_msgs/Quaternion\n\
239 # This represents an orientation in free space in quaternion form.\n\
240 \n\
241 float64 x\n\
242 float64 y\n\
243 float64 z\n\
244 float64 w\n\
245 ";
246 
247  yarp::os::Type getType() const override
248  {
250  typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
251  typ.addProperty("message_definition", yarp::os::Value(typeText));
252  return typ;
253  }
254 };
255 
256 } // namespace nav_msgs
257 } // namespace rosmsg
258 } // namespace yarp
259 
260 #endif // YARP_ROSMSG_nav_msgs_MapMetaData_h
#define BOTTLE_TAG_INT32
Definition: Bottle.h:21
#define BOTTLE_TAG_LIST
Definition: Bottle.h:28
#define BOTTLE_TAG_FLOAT32
Definition: Bottle.h:24
An interface for reading from a network connection.
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual std::int32_t expectInt32()=0
Read a 32-bit integer from the network connection.
virtual bool convertTextMode()=0
Reads in a standard description in text mode, and converts it to a standard description in binary.
virtual yarp::conf::float32_t expectFloat32()=0
Read a 32-bit floating point number from the network connection.
virtual bool isError() const =0
An interface for writing to a network connection.
virtual bool isError() const =0
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual void appendFloat32(yarp::conf::float32_t data)=0
Send a representation of a 32-bit floating point number to the network connection.
virtual bool convertTextMode()=0
Converts a standard description in binary into a textual description, if the connection is in text-mo...
virtual void appendInt32(std::int32_t data)=0
Send a representation of a 32-bit integer to the network connection.
static Type byName(const char *name)
Definition: Type.cpp:171
Type & addProperty(const char *key, const Value &val)
Definition: Type.cpp:134
A single value (typically within a Bottle).
Definition: Value.h:45
A "tamed" Portable, that promises to serialize itself in an IDL-friendly way.
Definition: WirePortable.h:23
virtual bool read(yarp::os::idl::WireReader &reader)
virtual bool write(const yarp::os::idl::WireWriter &writer) const
IDL-friendly connection reader.
Definition: WireReader.h:30
std::int32_t expectInt32()
Definition: WireReader.h:92
yarp::conf::float32_t expectFloat32()
Definition: WireReader.h:106
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: TickTime.h:148
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: TickTime.h:113
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: Pose.h:129
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: Pose.h:88
static constexpr const char * typeChecksum
Definition: MapMetaData.h:207
yarp::rosmsg::geometry_msgs::Pose origin
Definition: MapMetaData.h:46
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: MapMetaData.h:192
bool writeBottle(yarp::os::ConnectionWriter &connection) const override
Definition: MapMetaData.h:160
static constexpr const char * typeText
Definition: MapMetaData.h:210
yarp::conf::float32_t resolution
Definition: MapMetaData.h:43
bool readBottle(yarp::os::ConnectionReader &connection) override
Definition: MapMetaData.h:99
bool readBare(yarp::os::ConnectionReader &connection) override
Definition: MapMetaData.h:75
yarp::os::idl::BottleStyle< yarp::rosmsg::nav_msgs::MapMetaData > bottleStyle
Definition: MapMetaData.h:201
bool writeBare(yarp::os::ConnectionWriter &connection) const override
Definition: MapMetaData.h:136
yarp::os::idl::BareStyle< yarp::rosmsg::nav_msgs::MapMetaData > rosStyle
Definition: MapMetaData.h:200
yarp::rosmsg::TickTime map_load_time
Definition: MapMetaData.h:42
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: MapMetaData.h:130
yarp::os::Type getType() const override
Definition: MapMetaData.h:247
static constexpr const char * typeName
Definition: MapMetaData.h:204
float float32_t
Definition: numeric.h:76
The main, catch-all namespace for YARP.
Definition: dirs.h:16