Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/shape_msgs/Mesh.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_shape_msgs_Mesh_h
scarter1 0:020db18a476d 2 #define _ROS_shape_msgs_Mesh_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8 #include "shape_msgs/MeshTriangle.h"
scarter1 0:020db18a476d 9 #include "geometry_msgs/Point.h"
scarter1 0:020db18a476d 10
scarter1 0:020db18a476d 11 namespace shape_msgs
scarter1 0:020db18a476d 12 {
scarter1 0:020db18a476d 13
scarter1 0:020db18a476d 14 class Mesh : public ros::Msg
scarter1 0:020db18a476d 15 {
scarter1 0:020db18a476d 16 public:
scarter1 0:020db18a476d 17 uint32_t triangles_length;
scarter1 0:020db18a476d 18 typedef shape_msgs::MeshTriangle _triangles_type;
scarter1 0:020db18a476d 19 _triangles_type st_triangles;
scarter1 0:020db18a476d 20 _triangles_type * triangles;
scarter1 0:020db18a476d 21 uint32_t vertices_length;
scarter1 0:020db18a476d 22 typedef geometry_msgs::Point _vertices_type;
scarter1 0:020db18a476d 23 _vertices_type st_vertices;
scarter1 0:020db18a476d 24 _vertices_type * vertices;
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 Mesh():
scarter1 0:020db18a476d 27 triangles_length(0), triangles(NULL),
scarter1 0:020db18a476d 28 vertices_length(0), vertices(NULL)
scarter1 0:020db18a476d 29 {
scarter1 0:020db18a476d 30 }
scarter1 0:020db18a476d 31
scarter1 0:020db18a476d 32 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 33 {
scarter1 0:020db18a476d 34 int offset = 0;
scarter1 0:020db18a476d 35 *(outbuffer + offset + 0) = (this->triangles_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 36 *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 37 *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 38 *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 39 offset += sizeof(this->triangles_length);
scarter1 0:020db18a476d 40 for( uint32_t i = 0; i < triangles_length; i++){
scarter1 0:020db18a476d 41 offset += this->triangles[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 42 }
scarter1 0:020db18a476d 43 *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 44 *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 47 offset += sizeof(this->vertices_length);
scarter1 0:020db18a476d 48 for( uint32_t i = 0; i < vertices_length; i++){
scarter1 0:020db18a476d 49 offset += this->vertices[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 50 }
scarter1 0:020db18a476d 51 return offset;
scarter1 0:020db18a476d 52 }
scarter1 0:020db18a476d 53
scarter1 0:020db18a476d 54 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 55 {
scarter1 0:020db18a476d 56 int offset = 0;
scarter1 0:020db18a476d 57 uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 58 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 59 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 60 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 61 offset += sizeof(this->triangles_length);
scarter1 0:020db18a476d 62 if(triangles_lengthT > triangles_length)
scarter1 0:020db18a476d 63 this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
scarter1 0:020db18a476d 64 triangles_length = triangles_lengthT;
scarter1 0:020db18a476d 65 for( uint32_t i = 0; i < triangles_length; i++){
scarter1 0:020db18a476d 66 offset += this->st_triangles.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 67 memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
scarter1 0:020db18a476d 68 }
scarter1 0:020db18a476d 69 uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 70 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 71 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 72 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 73 offset += sizeof(this->vertices_length);
scarter1 0:020db18a476d 74 if(vertices_lengthT > vertices_length)
scarter1 0:020db18a476d 75 this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
scarter1 0:020db18a476d 76 vertices_length = vertices_lengthT;
scarter1 0:020db18a476d 77 for( uint32_t i = 0; i < vertices_length; i++){
scarter1 0:020db18a476d 78 offset += this->st_vertices.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 79 memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
scarter1 0:020db18a476d 80 }
scarter1 0:020db18a476d 81 return offset;
scarter1 0:020db18a476d 82 }
scarter1 0:020db18a476d 83
scarter1 0:020db18a476d 84 const char * getType(){ return "shape_msgs/Mesh"; };
scarter1 0:020db18a476d 85 const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
scarter1 0:020db18a476d 86
scarter1 0:020db18a476d 87 };
scarter1 0:020db18a476d 88
scarter1 0:020db18a476d 89 }
scarter1 0:020db18a476d 90 #endif