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Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/PointCloud2.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_PointCloud2_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_PointCloud2_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 "sensor_msgs/PointField.h"
Jeonghoon 3:2a3664dc6634 10
Jeonghoon 3:2a3664dc6634 11 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 12 {
Jeonghoon 3:2a3664dc6634 13
Jeonghoon 3:2a3664dc6634 14 class PointCloud2 : public ros::Msg
Jeonghoon 3:2a3664dc6634 15 {
Jeonghoon 3:2a3664dc6634 16 public:
Jeonghoon 3:2a3664dc6634 17 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 18 _header_type header;
Jeonghoon 3:2a3664dc6634 19 typedef uint32_t _height_type;
Jeonghoon 3:2a3664dc6634 20 _height_type height;
Jeonghoon 3:2a3664dc6634 21 typedef uint32_t _width_type;
Jeonghoon 3:2a3664dc6634 22 _width_type width;
Jeonghoon 3:2a3664dc6634 23 uint32_t fields_length;
Jeonghoon 3:2a3664dc6634 24 typedef sensor_msgs::PointField _fields_type;
Jeonghoon 3:2a3664dc6634 25 _fields_type st_fields;
Jeonghoon 3:2a3664dc6634 26 _fields_type * fields;
Jeonghoon 3:2a3664dc6634 27 typedef bool _is_bigendian_type;
Jeonghoon 3:2a3664dc6634 28 _is_bigendian_type is_bigendian;
Jeonghoon 3:2a3664dc6634 29 typedef uint32_t _point_step_type;
Jeonghoon 3:2a3664dc6634 30 _point_step_type point_step;
Jeonghoon 3:2a3664dc6634 31 typedef uint32_t _row_step_type;
Jeonghoon 3:2a3664dc6634 32 _row_step_type row_step;
Jeonghoon 3:2a3664dc6634 33 uint32_t data_length;
Jeonghoon 3:2a3664dc6634 34 typedef uint8_t _data_type;
Jeonghoon 3:2a3664dc6634 35 _data_type st_data;
Jeonghoon 3:2a3664dc6634 36 _data_type * data;
Jeonghoon 3:2a3664dc6634 37 typedef bool _is_dense_type;
Jeonghoon 3:2a3664dc6634 38 _is_dense_type is_dense;
Jeonghoon 3:2a3664dc6634 39
Jeonghoon 3:2a3664dc6634 40 PointCloud2():
Jeonghoon 3:2a3664dc6634 41 header(),
Jeonghoon 3:2a3664dc6634 42 height(0),
Jeonghoon 3:2a3664dc6634 43 width(0),
Jeonghoon 3:2a3664dc6634 44 fields_length(0), fields(NULL),
Jeonghoon 3:2a3664dc6634 45 is_bigendian(0),
Jeonghoon 3:2a3664dc6634 46 point_step(0),
Jeonghoon 3:2a3664dc6634 47 row_step(0),
Jeonghoon 3:2a3664dc6634 48 data_length(0), data(NULL),
Jeonghoon 3:2a3664dc6634 49 is_dense(0)
Jeonghoon 3:2a3664dc6634 50 {
Jeonghoon 3:2a3664dc6634 51 }
Jeonghoon 3:2a3664dc6634 52
Jeonghoon 3:2a3664dc6634 53 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 54 {
Jeonghoon 3:2a3664dc6634 55 int offset = 0;
Jeonghoon 3:2a3664dc6634 56 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 57 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 58 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 59 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 60 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 61 offset += sizeof(this->height);
Jeonghoon 3:2a3664dc6634 62 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 63 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 64 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 65 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 66 offset += sizeof(this->width);
Jeonghoon 3:2a3664dc6634 67 *(outbuffer + offset + 0) = (this->fields_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 68 *(outbuffer + offset + 1) = (this->fields_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 69 *(outbuffer + offset + 2) = (this->fields_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 70 *(outbuffer + offset + 3) = (this->fields_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 71 offset += sizeof(this->fields_length);
Jeonghoon 3:2a3664dc6634 72 for( uint32_t i = 0; i < fields_length; i++){
Jeonghoon 3:2a3664dc6634 73 offset += this->fields[i].serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 74 }
Jeonghoon 3:2a3664dc6634 75 union {
Jeonghoon 3:2a3664dc6634 76 bool real;
Jeonghoon 3:2a3664dc6634 77 uint8_t base;
Jeonghoon 3:2a3664dc6634 78 } u_is_bigendian;
Jeonghoon 3:2a3664dc6634 79 u_is_bigendian.real = this->is_bigendian;
Jeonghoon 3:2a3664dc6634 80 *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 81 offset += sizeof(this->is_bigendian);
Jeonghoon 3:2a3664dc6634 82 *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 83 *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 84 *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 85 *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 86 offset += sizeof(this->point_step);
Jeonghoon 3:2a3664dc6634 87 *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 88 *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 89 *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 90 *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 91 offset += sizeof(this->row_step);
Jeonghoon 3:2a3664dc6634 92 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 93 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 94 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 95 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 96 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 97 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 98 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 99 offset += sizeof(this->data[i]);
Jeonghoon 3:2a3664dc6634 100 }
Jeonghoon 3:2a3664dc6634 101 union {
Jeonghoon 3:2a3664dc6634 102 bool real;
Jeonghoon 3:2a3664dc6634 103 uint8_t base;
Jeonghoon 3:2a3664dc6634 104 } u_is_dense;
Jeonghoon 3:2a3664dc6634 105 u_is_dense.real = this->is_dense;
Jeonghoon 3:2a3664dc6634 106 *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 107 offset += sizeof(this->is_dense);
Jeonghoon 3:2a3664dc6634 108 return offset;
Jeonghoon 3:2a3664dc6634 109 }
Jeonghoon 3:2a3664dc6634 110
Jeonghoon 3:2a3664dc6634 111 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 112 {
Jeonghoon 3:2a3664dc6634 113 int offset = 0;
Jeonghoon 3:2a3664dc6634 114 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 115 this->height = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 116 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 117 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 118 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 119 offset += sizeof(this->height);
Jeonghoon 3:2a3664dc6634 120 this->width = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 121 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 122 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 123 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 124 offset += sizeof(this->width);
Jeonghoon 3:2a3664dc6634 125 uint32_t fields_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 126 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 127 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 128 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 129 offset += sizeof(this->fields_length);
Jeonghoon 3:2a3664dc6634 130 if(fields_lengthT > fields_length)
Jeonghoon 3:2a3664dc6634 131 this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
Jeonghoon 3:2a3664dc6634 132 fields_length = fields_lengthT;
Jeonghoon 3:2a3664dc6634 133 for( uint32_t i = 0; i < fields_length; i++){
Jeonghoon 3:2a3664dc6634 134 offset += this->st_fields.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 135 memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
Jeonghoon 3:2a3664dc6634 136 }
Jeonghoon 3:2a3664dc6634 137 union {
Jeonghoon 3:2a3664dc6634 138 bool real;
Jeonghoon 3:2a3664dc6634 139 uint8_t base;
Jeonghoon 3:2a3664dc6634 140 } u_is_bigendian;
Jeonghoon 3:2a3664dc6634 141 u_is_bigendian.base = 0;
Jeonghoon 3:2a3664dc6634 142 u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 143 this->is_bigendian = u_is_bigendian.real;
Jeonghoon 3:2a3664dc6634 144 offset += sizeof(this->is_bigendian);
Jeonghoon 3:2a3664dc6634 145 this->point_step = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 146 this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 147 this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 148 this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 149 offset += sizeof(this->point_step);
Jeonghoon 3:2a3664dc6634 150 this->row_step = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 151 this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 152 this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 153 this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 154 offset += sizeof(this->row_step);
Jeonghoon 3:2a3664dc6634 155 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 156 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 157 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 158 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 159 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 160 if(data_lengthT > data_length)
Jeonghoon 3:2a3664dc6634 161 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
Jeonghoon 3:2a3664dc6634 162 data_length = data_lengthT;
Jeonghoon 3:2a3664dc6634 163 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 164 this->st_data = ((uint8_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 165 offset += sizeof(this->st_data);
Jeonghoon 3:2a3664dc6634 166 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
Jeonghoon 3:2a3664dc6634 167 }
Jeonghoon 3:2a3664dc6634 168 union {
Jeonghoon 3:2a3664dc6634 169 bool real;
Jeonghoon 3:2a3664dc6634 170 uint8_t base;
Jeonghoon 3:2a3664dc6634 171 } u_is_dense;
Jeonghoon 3:2a3664dc6634 172 u_is_dense.base = 0;
Jeonghoon 3:2a3664dc6634 173 u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 174 this->is_dense = u_is_dense.real;
Jeonghoon 3:2a3664dc6634 175 offset += sizeof(this->is_dense);
Jeonghoon 3:2a3664dc6634 176 return offset;
Jeonghoon 3:2a3664dc6634 177 }
Jeonghoon 3:2a3664dc6634 178
Jeonghoon 3:2a3664dc6634 179 const char * getType(){ return "sensor_msgs/PointCloud2"; };
Jeonghoon 3:2a3664dc6634 180 const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
Jeonghoon 3:2a3664dc6634 181
Jeonghoon 3:2a3664dc6634 182 };
Jeonghoon 3:2a3664dc6634 183
Jeonghoon 3:2a3664dc6634 184 }
Jeonghoon 3:2a3664dc6634 185 #endif