/usr/share/common-lisp/ros/sensor_msgs/msg/LaserScan.lisp is in cl-sensor-msgs 1.12.5-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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(cl:in-package sensor_msgs-msg)
;//! \htmlinclude LaserScan.msg.html
(cl:defclass <LaserScan> (roslisp-msg-protocol:ros-message)
((header
:reader header
:initarg :header
:type std_msgs-msg:Header
:initform (cl:make-instance 'std_msgs-msg:Header))
(angle_min
:reader angle_min
:initarg :angle_min
:type cl:float
:initform 0.0)
(angle_max
:reader angle_max
:initarg :angle_max
:type cl:float
:initform 0.0)
(angle_increment
:reader angle_increment
:initarg :angle_increment
:type cl:float
:initform 0.0)
(time_increment
:reader time_increment
:initarg :time_increment
:type cl:float
:initform 0.0)
(scan_time
:reader scan_time
:initarg :scan_time
:type cl:float
:initform 0.0)
(range_min
:reader range_min
:initarg :range_min
:type cl:float
:initform 0.0)
(range_max
:reader range_max
:initarg :range_max
:type cl:float
:initform 0.0)
(ranges
:reader ranges
:initarg :ranges
:type (cl:vector cl:float)
:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
(intensities
:reader intensities
:initarg :intensities
:type (cl:vector cl:float)
:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)))
)
(cl:defclass LaserScan (<LaserScan>)
())
(cl:defmethod cl:initialize-instance :after ((m <LaserScan>) cl:&rest args)
(cl:declare (cl:ignorable args))
(cl:unless (cl:typep m 'LaserScan)
(roslisp-msg-protocol:msg-deprecation-warning "using old message class name sensor_msgs-msg:<LaserScan> is deprecated: use sensor_msgs-msg:LaserScan instead.")))
(cl:ensure-generic-function 'header-val :lambda-list '(m))
(cl:defmethod header-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:header-val is deprecated. Use sensor_msgs-msg:header instead.")
(header m))
(cl:ensure-generic-function 'angle_min-val :lambda-list '(m))
(cl:defmethod angle_min-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:angle_min-val is deprecated. Use sensor_msgs-msg:angle_min instead.")
(angle_min m))
(cl:ensure-generic-function 'angle_max-val :lambda-list '(m))
(cl:defmethod angle_max-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:angle_max-val is deprecated. Use sensor_msgs-msg:angle_max instead.")
(angle_max m))
(cl:ensure-generic-function 'angle_increment-val :lambda-list '(m))
(cl:defmethod angle_increment-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:angle_increment-val is deprecated. Use sensor_msgs-msg:angle_increment instead.")
(angle_increment m))
(cl:ensure-generic-function 'time_increment-val :lambda-list '(m))
(cl:defmethod time_increment-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:time_increment-val is deprecated. Use sensor_msgs-msg:time_increment instead.")
(time_increment m))
(cl:ensure-generic-function 'scan_time-val :lambda-list '(m))
(cl:defmethod scan_time-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:scan_time-val is deprecated. Use sensor_msgs-msg:scan_time instead.")
(scan_time m))
(cl:ensure-generic-function 'range_min-val :lambda-list '(m))
(cl:defmethod range_min-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:range_min-val is deprecated. Use sensor_msgs-msg:range_min instead.")
(range_min m))
(cl:ensure-generic-function 'range_max-val :lambda-list '(m))
(cl:defmethod range_max-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:range_max-val is deprecated. Use sensor_msgs-msg:range_max instead.")
(range_max m))
(cl:ensure-generic-function 'ranges-val :lambda-list '(m))
(cl:defmethod ranges-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:ranges-val is deprecated. Use sensor_msgs-msg:ranges instead.")
(ranges m))
(cl:ensure-generic-function 'intensities-val :lambda-list '(m))
(cl:defmethod intensities-val ((m <LaserScan>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:intensities-val is deprecated. Use sensor_msgs-msg:intensities instead.")
(intensities m))
(cl:defmethod roslisp-msg-protocol:serialize ((msg <LaserScan>) ostream)
"Serializes a message object of type '<LaserScan>"
(roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
(cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'angle_min))))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
(cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'angle_max))))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
(cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'angle_increment))))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
(cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'time_increment))))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
(cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'scan_time))))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
(cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'range_min))))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
(cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'range_max))))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'ranges))))
(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
(cl:slot-value msg 'ranges))
(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'intensities))))
(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
(cl:slot-value msg 'intensities))
)
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <LaserScan>) istream)
"Deserializes a message object of type '<LaserScan>"
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'angle_min) (roslisp-utils:decode-single-float-bits bits)))
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'angle_max) (roslisp-utils:decode-single-float-bits bits)))
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'angle_increment) (roslisp-utils:decode-single-float-bits bits)))
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'time_increment) (roslisp-utils:decode-single-float-bits bits)))
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'scan_time) (roslisp-utils:decode-single-float-bits bits)))
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'range_min) (roslisp-utils:decode-single-float-bits bits)))
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'range_max) (roslisp-utils:decode-single-float-bits bits)))
(cl:let ((__ros_arr_len 0))
(cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'ranges) (cl:make-array __ros_arr_len))
(cl:let ((vals (cl:slot-value msg 'ranges)))
(cl:dotimes (i __ros_arr_len)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits))))))
(cl:let ((__ros_arr_len 0))
(cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'intensities) (cl:make-array __ros_arr_len))
(cl:let ((vals (cl:slot-value msg 'intensities)))
(cl:dotimes (i __ros_arr_len)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits))))))
msg
)
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<LaserScan>)))
"Returns string type for a message object of type '<LaserScan>"
"sensor_msgs/LaserScan")
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'LaserScan)))
"Returns string type for a message object of type 'LaserScan"
"sensor_msgs/LaserScan")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<LaserScan>)))
"Returns md5sum for a message object of type '<LaserScan>"
"90c7ef2dc6895d81024acba2ac42f369")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'LaserScan)))
"Returns md5sum for a message object of type 'LaserScan"
"90c7ef2dc6895d81024acba2ac42f369")
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<LaserScan>)))
"Returns full string definition for message of type '<LaserScan>"
(cl:format cl:nil "# Single scan from a planar laser range-finder~%#~%# If you have another ranging device with different behavior (e.g. a sonar~%# array), please find or create a different message, since applications~%# will make fairly laser-specific assumptions about this data~%~%Header header # timestamp in the header is the acquisition time of ~% # the first ray in the scan.~% #~% # in frame frame_id, angles are measured around ~% # the positive Z axis (counterclockwise, if Z is up)~% # with zero angle being forward along the x axis~% ~%float32 angle_min # start angle of the scan [rad]~%float32 angle_max # end angle of the scan [rad]~%float32 angle_increment # angular distance between measurements [rad]~%~%float32 time_increment # time between measurements [seconds] - if your scanner~% # is moving, this will be used in interpolating position~% # of 3d points~%float32 scan_time # time between scans [seconds]~%~%float32 range_min # minimum range value [m]~%float32 range_max # maximum range value [m]~%~%float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)~%float32[] intensities # intensity data [device-specific units]. If your~% # device does not provide intensities, please leave~% # the array empty.~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'LaserScan)))
"Returns full string definition for message of type 'LaserScan"
(cl:format cl:nil "# Single scan from a planar laser range-finder~%#~%# If you have another ranging device with different behavior (e.g. a sonar~%# array), please find or create a different message, since applications~%# will make fairly laser-specific assumptions about this data~%~%Header header # timestamp in the header is the acquisition time of ~% # the first ray in the scan.~% #~% # in frame frame_id, angles are measured around ~% # the positive Z axis (counterclockwise, if Z is up)~% # with zero angle being forward along the x axis~% ~%float32 angle_min # start angle of the scan [rad]~%float32 angle_max # end angle of the scan [rad]~%float32 angle_increment # angular distance between measurements [rad]~%~%float32 time_increment # time between measurements [seconds] - if your scanner~% # is moving, this will be used in interpolating position~% # of 3d points~%float32 scan_time # time between scans [seconds]~%~%float32 range_min # minimum range value [m]~%float32 range_max # maximum range value [m]~%~%float32[] ranges # range data [m] (Note: values < range_min or > range_max should be discarded)~%float32[] intensities # intensity data [device-specific units]. If your~% # device does not provide intensities, please leave~% # the array empty.~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <LaserScan>))
(cl:+ 0
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
4
4
4
4
4
4
4
4 (cl:reduce #'cl:+ (cl:slot-value msg 'ranges) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
4 (cl:reduce #'cl:+ (cl:slot-value msg 'intensities) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
))
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <LaserScan>))
"Converts a ROS message object to a list"
(cl:list 'LaserScan
(cl:cons ':header (header msg))
(cl:cons ':angle_min (angle_min msg))
(cl:cons ':angle_max (angle_max msg))
(cl:cons ':angle_increment (angle_increment msg))
(cl:cons ':time_increment (time_increment msg))
(cl:cons ':scan_time (scan_time msg))
(cl:cons ':range_min (range_min msg))
(cl:cons ':range_max (range_max msg))
(cl:cons ':ranges (ranges msg))
(cl:cons ':intensities (intensities msg))
))
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