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sensor_msgs/PointCloud.h@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_PointCloud_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_PointCloud_h
Jeonghoon 3:2a3664dc6634 3
Jeonghoon 3:2a3664dc6634 4 #include <stdint.h>
Jeonghoon 3:2a3664dc6634 5 #include <string.h>
Jeonghoon 3:2a3664dc6634 6 #include <stdlib.h>
Jeonghoon 3:2a3664dc6634 7 #include "ros/msg.h"
Jeonghoon 3:2a3664dc6634 8 #include "std_msgs/Header.h"
Jeonghoon 3:2a3664dc6634 9 #include "geometry_msgs/Point32.h"
Jeonghoon 3:2a3664dc6634 10 #include "sensor_msgs/ChannelFloat32.h"
Jeonghoon 3:2a3664dc6634 11
Jeonghoon 3:2a3664dc6634 12 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 13 {
Jeonghoon 3:2a3664dc6634 14
Jeonghoon 3:2a3664dc6634 15 class PointCloud : public ros::Msg
Jeonghoon 3:2a3664dc6634 16 {
Jeonghoon 3:2a3664dc6634 17 public:
Jeonghoon 3:2a3664dc6634 18 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 19 _header_type header;
Jeonghoon 3:2a3664dc6634 20 uint32_t points_length;
Jeonghoon 3:2a3664dc6634 21 typedef geometry_msgs::Point32 _points_type;
Jeonghoon 3:2a3664dc6634 22 _points_type st_points;
Jeonghoon 3:2a3664dc6634 23 _points_type * points;
Jeonghoon 3:2a3664dc6634 24 uint32_t channels_length;
Jeonghoon 3:2a3664dc6634 25 typedef sensor_msgs::ChannelFloat32 _channels_type;
Jeonghoon 3:2a3664dc6634 26 _channels_type st_channels;
Jeonghoon 3:2a3664dc6634 27 _channels_type * channels;
Jeonghoon 3:2a3664dc6634 28
Jeonghoon 3:2a3664dc6634 29 PointCloud():
Jeonghoon 3:2a3664dc6634 30 header(),
Jeonghoon 3:2a3664dc6634 31 points_length(0), points(NULL),
Jeonghoon 3:2a3664dc6634 32 channels_length(0), channels(NULL)
Jeonghoon 3:2a3664dc6634 33 {
Jeonghoon 3:2a3664dc6634 34 }
Jeonghoon 3:2a3664dc6634 35
Jeonghoon 3:2a3664dc6634 36 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 37 {
Jeonghoon 3:2a3664dc6634 38 int offset = 0;
Jeonghoon 3:2a3664dc6634 39 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 40 *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 41 *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 42 *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 43 *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 44 offset += sizeof(this->points_length);
Jeonghoon 3:2a3664dc6634 45 for( uint32_t i = 0; i < points_length; i++){
Jeonghoon 3:2a3664dc6634 46 offset += this->points[i].serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 47 }
Jeonghoon 3:2a3664dc6634 48 *(outbuffer + offset + 0) = (this->channels_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 49 *(outbuffer + offset + 1) = (this->channels_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 50 *(outbuffer + offset + 2) = (this->channels_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 51 *(outbuffer + offset + 3) = (this->channels_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 52 offset += sizeof(this->channels_length);
Jeonghoon 3:2a3664dc6634 53 for( uint32_t i = 0; i < channels_length; i++){
Jeonghoon 3:2a3664dc6634 54 offset += this->channels[i].serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 55 }
Jeonghoon 3:2a3664dc6634 56 return offset;
Jeonghoon 3:2a3664dc6634 57 }
Jeonghoon 3:2a3664dc6634 58
Jeonghoon 3:2a3664dc6634 59 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 60 {
Jeonghoon 3:2a3664dc6634 61 int offset = 0;
Jeonghoon 3:2a3664dc6634 62 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 63 uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 64 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 65 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 66 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 67 offset += sizeof(this->points_length);
Jeonghoon 3:2a3664dc6634 68 if(points_lengthT > points_length)
Jeonghoon 3:2a3664dc6634 69 this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
Jeonghoon 3:2a3664dc6634 70 points_length = points_lengthT;
Jeonghoon 3:2a3664dc6634 71 for( uint32_t i = 0; i < points_length; i++){
Jeonghoon 3:2a3664dc6634 72 offset += this->st_points.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 73 memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
Jeonghoon 3:2a3664dc6634 74 }
Jeonghoon 3:2a3664dc6634 75 uint32_t channels_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 76 channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 77 channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 78 channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 79 offset += sizeof(this->channels_length);
Jeonghoon 3:2a3664dc6634 80 if(channels_lengthT > channels_length)
Jeonghoon 3:2a3664dc6634 81 this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
Jeonghoon 3:2a3664dc6634 82 channels_length = channels_lengthT;
Jeonghoon 3:2a3664dc6634 83 for( uint32_t i = 0; i < channels_length; i++){
Jeonghoon 3:2a3664dc6634 84 offset += this->st_channels.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 85 memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
Jeonghoon 3:2a3664dc6634 86 }
Jeonghoon 3:2a3664dc6634 87 return offset;
Jeonghoon 3:2a3664dc6634 88 }
Jeonghoon 3:2a3664dc6634 89
Jeonghoon 3:2a3664dc6634 90 const char * getType(){ return "sensor_msgs/PointCloud"; };
Jeonghoon 3:2a3664dc6634 91 const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
Jeonghoon 3:2a3664dc6634 92
Jeonghoon 3:2a3664dc6634 93 };
Jeonghoon 3:2a3664dc6634 94
Jeonghoon 3:2a3664dc6634 95 }
Jeonghoon 3:2a3664dc6634 96 #endif