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ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/pcl_msgs/ModelCoefficients.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_pcl_msgs_ModelCoefficients_h
scarter1 0:020db18a476d 2 #define _ROS_pcl_msgs_ModelCoefficients_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 "std_msgs/Header.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace pcl_msgs
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class ModelCoefficients : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 17 _header_type header;
scarter1 0:020db18a476d 18 uint32_t values_length;
scarter1 0:020db18a476d 19 typedef float _values_type;
scarter1 0:020db18a476d 20 _values_type st_values;
scarter1 0:020db18a476d 21 _values_type * values;
scarter1 0:020db18a476d 22
scarter1 0:020db18a476d 23 ModelCoefficients():
scarter1 0:020db18a476d 24 header(),
scarter1 0:020db18a476d 25 values_length(0), values(NULL)
scarter1 0:020db18a476d 26 {
scarter1 0:020db18a476d 27 }
scarter1 0:020db18a476d 28
scarter1 0:020db18a476d 29 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 30 {
scarter1 0:020db18a476d 31 int offset = 0;
scarter1 0:020db18a476d 32 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 33 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 34 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 35 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 36 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 37 offset += sizeof(this->values_length);
scarter1 0:020db18a476d 38 for( uint32_t i = 0; i < values_length; i++){
scarter1 0:020db18a476d 39 union {
scarter1 0:020db18a476d 40 float real;
scarter1 0:020db18a476d 41 uint32_t base;
scarter1 0:020db18a476d 42 } u_valuesi;
scarter1 0:020db18a476d 43 u_valuesi.real = this->values[i];
scarter1 0:020db18a476d 44 *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 45 *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 46 *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 47 *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 48 offset += sizeof(this->values[i]);
scarter1 0:020db18a476d 49 }
scarter1 0:020db18a476d 50 return offset;
scarter1 0:020db18a476d 51 }
scarter1 0:020db18a476d 52
scarter1 0:020db18a476d 53 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 54 {
scarter1 0:020db18a476d 55 int offset = 0;
scarter1 0:020db18a476d 56 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 57 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 58 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 59 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 60 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 61 offset += sizeof(this->values_length);
scarter1 0:020db18a476d 62 if(values_lengthT > values_length)
scarter1 0:020db18a476d 63 this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
scarter1 0:020db18a476d 64 values_length = values_lengthT;
scarter1 0:020db18a476d 65 for( uint32_t i = 0; i < values_length; i++){
scarter1 0:020db18a476d 66 union {
scarter1 0:020db18a476d 67 float real;
scarter1 0:020db18a476d 68 uint32_t base;
scarter1 0:020db18a476d 69 } u_st_values;
scarter1 0:020db18a476d 70 u_st_values.base = 0;
scarter1 0:020db18a476d 71 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
scarter1 0:020db18a476d 72 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 73 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 74 u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 75 this->st_values = u_st_values.real;
scarter1 0:020db18a476d 76 offset += sizeof(this->st_values);
scarter1 0:020db18a476d 77 memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
scarter1 0:020db18a476d 78 }
scarter1 0:020db18a476d 79 return offset;
scarter1 0:020db18a476d 80 }
scarter1 0:020db18a476d 81
scarter1 0:020db18a476d 82 const char * getType(){ return "pcl_msgs/ModelCoefficients"; };
scarter1 0:020db18a476d 83 const char * getMD5(){ return "ca27dea75e72cb894cd36f9e5005e93e"; };
scarter1 0:020db18a476d 84
scarter1 0:020db18a476d 85 };
scarter1 0:020db18a476d 86
scarter1 0:020db18a476d 87 }
scarter1 0:020db18a476d 88 #endif