Robotic Team 1 / ros_lib_indigo

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Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

shape_msgs/Mesh.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_shape_msgs_Mesh_h
garyservin 0:fd24f7ca9688 2 #define _ROS_shape_msgs_Mesh_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "shape_msgs/MeshTriangle.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/Point.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace shape_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class Mesh : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 uint8_t triangles_length;
garyservin 0:fd24f7ca9688 18 shape_msgs::MeshTriangle st_triangles;
garyservin 0:fd24f7ca9688 19 shape_msgs::MeshTriangle * triangles;
garyservin 0:fd24f7ca9688 20 uint8_t vertices_length;
garyservin 0:fd24f7ca9688 21 geometry_msgs::Point st_vertices;
garyservin 0:fd24f7ca9688 22 geometry_msgs::Point * vertices;
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 Mesh():
garyservin 0:fd24f7ca9688 25 triangles_length(0), triangles(NULL),
garyservin 0:fd24f7ca9688 26 vertices_length(0), vertices(NULL)
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 }
garyservin 0:fd24f7ca9688 29
garyservin 0:fd24f7ca9688 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 int offset = 0;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset++) = triangles_length;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 37 for( uint8_t i = 0; i < triangles_length; i++){
garyservin 0:fd24f7ca9688 38 offset += this->triangles[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 39 }
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset++) = vertices_length;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 44 for( uint8_t i = 0; i < vertices_length; i++){
garyservin 0:fd24f7ca9688 45 offset += this->vertices[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 46 }
garyservin 0:fd24f7ca9688 47 return offset;
garyservin 0:fd24f7ca9688 48 }
garyservin 0:fd24f7ca9688 49
garyservin 0:fd24f7ca9688 50 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 51 {
garyservin 0:fd24f7ca9688 52 int offset = 0;
garyservin 0:fd24f7ca9688 53 uint8_t triangles_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 54 if(triangles_lengthT > triangles_length)
garyservin 0:fd24f7ca9688 55 this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
garyservin 0:fd24f7ca9688 56 offset += 3;
garyservin 0:fd24f7ca9688 57 triangles_length = triangles_lengthT;
garyservin 0:fd24f7ca9688 58 for( uint8_t i = 0; i < triangles_length; i++){
garyservin 0:fd24f7ca9688 59 offset += this->st_triangles.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 60 memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
garyservin 0:fd24f7ca9688 61 }
garyservin 0:fd24f7ca9688 62 uint8_t vertices_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 63 if(vertices_lengthT > vertices_length)
garyservin 0:fd24f7ca9688 64 this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
garyservin 0:fd24f7ca9688 65 offset += 3;
garyservin 0:fd24f7ca9688 66 vertices_length = vertices_lengthT;
garyservin 0:fd24f7ca9688 67 for( uint8_t i = 0; i < vertices_length; i++){
garyservin 0:fd24f7ca9688 68 offset += this->st_vertices.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 69 memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
garyservin 0:fd24f7ca9688 70 }
garyservin 0:fd24f7ca9688 71 return offset;
garyservin 0:fd24f7ca9688 72 }
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 const char * getType(){ return "shape_msgs/Mesh"; };
garyservin 0:fd24f7ca9688 75 const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
garyservin 0:fd24f7ca9688 76
garyservin 0:fd24f7ca9688 77 };
garyservin 0:fd24f7ca9688 78
garyservin 0:fd24f7ca9688 79 }
garyservin 0:fd24f7ca9688 80 #endif