YARP
Yet Another Robot Platform
OccupancyGrid.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/OccupancyGrid" msg definition:
9 // # This represents a 2-D grid map, in which each cell represents the probability of
10 // # occupancy.
11 //
12 // Header header
13 //
14 // #MetaData for the map
15 // MapMetaData info
16 //
17 // # The map data, in row-major order, starting with (0,0). Occupancy
18 // # probabilities are in the range [0,100]. Unknown is -1.
19 // int8[] data
20 // Instances of this class can be read and written with YARP ports,
21 // using a ROS-compatible format.
22 
23 #ifndef YARP_ROSMSG_nav_msgs_OccupancyGrid_h
24 #define YARP_ROSMSG_nav_msgs_OccupancyGrid_h
25 
26 #include <yarp/os/Wire.h>
27 #include <yarp/os/Type.h>
28 #include <yarp/os/idl/WireTypes.h>
29 #include <string>
30 #include <vector>
33 
34 namespace yarp {
35 namespace rosmsg {
36 namespace nav_msgs {
37 
39 {
40 public:
43  std::vector<std::int8_t> data;
44 
46  header(),
47  info(),
48  data()
49  {
50  }
51 
52  void clear()
53  {
54  // *** header ***
55  header.clear();
56 
57  // *** info ***
58  info.clear();
59 
60  // *** data ***
61  data.clear();
62  }
63 
64  bool readBare(yarp::os::ConnectionReader& connection) override
65  {
66  // *** header ***
67  if (!header.read(connection)) {
68  return false;
69  }
70 
71  // *** info ***
72  if (!info.read(connection)) {
73  return false;
74  }
75 
76  // *** data ***
77  int len = connection.expectInt32();
78  data.resize(len);
79  if (len > 0 && !connection.expectBlock((char*)&data[0], sizeof(std::int8_t)*len)) {
80  return false;
81  }
82 
83  return !connection.isError();
84  }
85 
86  bool readBottle(yarp::os::ConnectionReader& connection) override
87  {
88  connection.convertTextMode();
89  yarp::os::idl::WireReader reader(connection);
90  if (!reader.readListHeader(3)) {
91  return false;
92  }
93 
94  // *** header ***
95  if (!header.read(connection)) {
96  return false;
97  }
98 
99  // *** info ***
100  if (!info.read(connection)) {
101  return false;
102  }
103 
104  // *** data ***
105  if (connection.expectInt32() != (BOTTLE_TAG_LIST|BOTTLE_TAG_INT8)) {
106  return false;
107  }
108  int len = connection.expectInt32();
109  data.resize(len);
110  for (int i=0; i<len; i++) {
111  data[i] = (std::int8_t)connection.expectInt8();
112  }
113 
114  return !connection.isError();
115  }
116 
118  bool read(yarp::os::ConnectionReader& connection) override
119  {
120  return (connection.isBareMode() ? readBare(connection)
121  : readBottle(connection));
122  }
123 
124  bool writeBare(yarp::os::ConnectionWriter& connection) const override
125  {
126  // *** header ***
127  if (!header.write(connection)) {
128  return false;
129  }
130 
131  // *** info ***
132  if (!info.write(connection)) {
133  return false;
134  }
135 
136  // *** data ***
137  connection.appendInt32(data.size());
138  if (data.size()>0) {
139  connection.appendExternalBlock((char*)&data[0], sizeof(std::int8_t)*data.size());
140  }
141 
142  return !connection.isError();
143  }
144 
145  bool writeBottle(yarp::os::ConnectionWriter& connection) const override
146  {
147  connection.appendInt32(BOTTLE_TAG_LIST);
148  connection.appendInt32(3);
149 
150  // *** header ***
151  if (!header.write(connection)) {
152  return false;
153  }
154 
155  // *** info ***
156  if (!info.write(connection)) {
157  return false;
158  }
159 
160  // *** data ***
162  connection.appendInt32(data.size());
163  for (size_t i=0; i<data.size(); i++) {
164  connection.appendInt8(data[i]);
165  }
166 
167  connection.convertTextMode();
168  return !connection.isError();
169  }
170 
172  bool write(yarp::os::ConnectionWriter& connection) const override
173  {
174  return (connection.isBareMode() ? writeBare(connection)
175  : writeBottle(connection));
176  }
177 
178  // This class will serialize ROS style or YARP style depending on protocol.
179  // If you need to force a serialization style, use one of these classes:
182 
183  // The name for this message, ROS will need this
184  static constexpr const char* typeName = "nav_msgs/OccupancyGrid";
185 
186  // The checksum for this message, ROS will need this
187  static constexpr const char* typeChecksum = "3381f2d731d4076ec5c71b0759edbe4e";
188 
189  // The source text for this message, ROS will need this
190  static constexpr const char* typeText = "\
191 # This represents a 2-D grid map, in which each cell represents the probability of\n\
192 # occupancy.\n\
193 \n\
194 Header header \n\
195 \n\
196 #MetaData for the map\n\
197 MapMetaData info\n\
198 \n\
199 # The map data, in row-major order, starting with (0,0). Occupancy\n\
200 # probabilities are in the range [0,100]. Unknown is -1.\n\
201 int8[] data\n\
202 \n\
203 ================================================================================\n\
204 MSG: std_msgs/Header\n\
205 # Standard metadata for higher-level stamped data types.\n\
206 # This is generally used to communicate timestamped data \n\
207 # in a particular coordinate frame.\n\
208 # \n\
209 # sequence ID: consecutively increasing ID \n\
210 uint32 seq\n\
211 #Two-integer timestamp that is expressed as:\n\
212 # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
213 # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
214 # time-handling sugar is provided by the client library\n\
215 time stamp\n\
216 #Frame this data is associated with\n\
217 # 0: no frame\n\
218 # 1: global frame\n\
219 string frame_id\n\
220 \n\
221 ================================================================================\n\
222 MSG: nav_msgs/MapMetaData\n\
223 # This hold basic information about the characterists of the OccupancyGrid\n\
224 \n\
225 # The time at which the map was loaded\n\
226 time map_load_time\n\
227 # The map resolution [m/cell]\n\
228 float32 resolution\n\
229 # Map width [cells]\n\
230 uint32 width\n\
231 # Map height [cells]\n\
232 uint32 height\n\
233 # The origin of the map [m, m, rad]. This is the real-world pose of the\n\
234 # cell (0,0) in the map.\n\
235 geometry_msgs/Pose origin\n\
236 ================================================================================\n\
237 MSG: geometry_msgs/Pose\n\
238 # A representation of pose in free space, composed of position and orientation. \n\
239 Point position\n\
240 Quaternion orientation\n\
241 \n\
242 ================================================================================\n\
243 MSG: geometry_msgs/Point\n\
244 # This contains the position of a point in free space\n\
245 float64 x\n\
246 float64 y\n\
247 float64 z\n\
248 \n\
249 ================================================================================\n\
250 MSG: geometry_msgs/Quaternion\n\
251 # This represents an orientation in free space in quaternion form.\n\
252 \n\
253 float64 x\n\
254 float64 y\n\
255 float64 z\n\
256 float64 w\n\
257 ";
258 
259  yarp::os::Type getType() const override
260  {
262  typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
263  typ.addProperty("message_definition", yarp::os::Value(typeText));
264  return typ;
265  }
266 };
267 
268 } // namespace nav_msgs
269 } // namespace rosmsg
270 } // namespace yarp
271 
272 #endif // YARP_ROSMSG_nav_msgs_OccupancyGrid_h
#define BOTTLE_TAG_INT8
Definition: Bottle.h:19
#define BOTTLE_TAG_LIST
Definition: Bottle.h:28
An interface for reading from a network connection.
virtual bool expectBlock(char *data, size_t len)=0
Read a block of data from the 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 bool isError() const =0
virtual std::int8_t expectInt8()=0
Read a 8-bit integer from the network connection.
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 appendInt8(std::int8_t data)=0
Send a representation of a 8-bit integer to the network connection.
virtual void appendExternalBlock(const char *data, size_t len)=0
Send a block of data to the network connection, without making a copy.
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
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: MapMetaData.h:192
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: MapMetaData.h:130
yarp::os::idl::BottleStyle< yarp::rosmsg::nav_msgs::OccupancyGrid > bottleStyle
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
static constexpr const char * typeName
bool writeBare(yarp::os::ConnectionWriter &connection) const override
std::vector< std::int8_t > data
Definition: OccupancyGrid.h:43
bool writeBottle(yarp::os::ConnectionWriter &connection) const override
yarp::rosmsg::nav_msgs::MapMetaData info
Definition: OccupancyGrid.h:42
yarp::os::idl::BareStyle< yarp::rosmsg::nav_msgs::OccupancyGrid > rosStyle
bool readBare(yarp::os::ConnectionReader &connection) override
Definition: OccupancyGrid.h:64
yarp::rosmsg::std_msgs::Header header
Definition: OccupancyGrid.h:41
bool readBottle(yarp::os::ConnectionReader &connection) override
Definition: OccupancyGrid.h:86
yarp::os::Type getType() const override
static constexpr const char * typeChecksum
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
static constexpr const char * typeText
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: Header.h:159
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: Header.h:112
The main, catch-all namespace for YARP.
Definition: dirs.h:16