Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/geometry_msgs/Polygon.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_geometry_msgs_Polygon_h
scarter1 0:020db18a476d 2 #define _ROS_geometry_msgs_Polygon_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 "geometry_msgs/Point32.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace geometry_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class Polygon : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 uint32_t points_length;
scarter1 0:020db18a476d 17 typedef geometry_msgs::Point32 _points_type;
scarter1 0:020db18a476d 18 _points_type st_points;
scarter1 0:020db18a476d 19 _points_type * points;
scarter1 0:020db18a476d 20
scarter1 0:020db18a476d 21 Polygon():
scarter1 0:020db18a476d 22 points_length(0), points(NULL)
scarter1 0:020db18a476d 23 {
scarter1 0:020db18a476d 24 }
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 int offset = 0;
scarter1 0:020db18a476d 29 *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 30 *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 31 *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 32 *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 33 offset += sizeof(this->points_length);
scarter1 0:020db18a476d 34 for( uint32_t i = 0; i < points_length; i++){
scarter1 0:020db18a476d 35 offset += this->points[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 36 }
scarter1 0:020db18a476d 37 return offset;
scarter1 0:020db18a476d 38 }
scarter1 0:020db18a476d 39
scarter1 0:020db18a476d 40 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 41 {
scarter1 0:020db18a476d 42 int offset = 0;
scarter1 0:020db18a476d 43 uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 44 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 45 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 46 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 47 offset += sizeof(this->points_length);
scarter1 0:020db18a476d 48 if(points_lengthT > points_length)
scarter1 0:020db18a476d 49 this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
scarter1 0:020db18a476d 50 points_length = points_lengthT;
scarter1 0:020db18a476d 51 for( uint32_t i = 0; i < points_length; i++){
scarter1 0:020db18a476d 52 offset += this->st_points.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 53 memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
scarter1 0:020db18a476d 54 }
scarter1 0:020db18a476d 55 return offset;
scarter1 0:020db18a476d 56 }
scarter1 0:020db18a476d 57
scarter1 0:020db18a476d 58 const char * getType(){ return "geometry_msgs/Polygon"; };
scarter1 0:020db18a476d 59 const char * getMD5(){ return "cd60a26494a087f577976f0329fa120e"; };
scarter1 0:020db18a476d 60
scarter1 0:020db18a476d 61 };
scarter1 0:020db18a476d 62
scarter1 0:020db18a476d 63 }
scarter1 0:020db18a476d 64 #endif