Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/pcl_msgs/PolygonMesh.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_PolygonMesh_h
scarter1 0:020db18a476d 2 #define _ROS_pcl_msgs_PolygonMesh_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 #include "sensor_msgs/PointCloud2.h"
scarter1 0:020db18a476d 10 #include "pcl_msgs/Vertices.h"
scarter1 0:020db18a476d 11
scarter1 0:020db18a476d 12 namespace pcl_msgs
scarter1 0:020db18a476d 13 {
scarter1 0:020db18a476d 14
scarter1 0:020db18a476d 15 class PolygonMesh : public ros::Msg
scarter1 0:020db18a476d 16 {
scarter1 0:020db18a476d 17 public:
scarter1 0:020db18a476d 18 typedef std_msgs::Header _header_type;
scarter1 0:020db18a476d 19 _header_type header;
scarter1 0:020db18a476d 20 typedef sensor_msgs::PointCloud2 _cloud_type;
scarter1 0:020db18a476d 21 _cloud_type cloud;
scarter1 0:020db18a476d 22 uint32_t polygons_length;
scarter1 0:020db18a476d 23 typedef pcl_msgs::Vertices _polygons_type;
scarter1 0:020db18a476d 24 _polygons_type st_polygons;
scarter1 0:020db18a476d 25 _polygons_type * polygons;
scarter1 0:020db18a476d 26
scarter1 0:020db18a476d 27 PolygonMesh():
scarter1 0:020db18a476d 28 header(),
scarter1 0:020db18a476d 29 cloud(),
scarter1 0:020db18a476d 30 polygons_length(0), polygons(NULL)
scarter1 0:020db18a476d 31 {
scarter1 0:020db18a476d 32 }
scarter1 0:020db18a476d 33
scarter1 0:020db18a476d 34 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 35 {
scarter1 0:020db18a476d 36 int offset = 0;
scarter1 0:020db18a476d 37 offset += this->header.serialize(outbuffer + offset);
scarter1 0:020db18a476d 38 offset += this->cloud.serialize(outbuffer + offset);
scarter1 0:020db18a476d 39 *(outbuffer + offset + 0) = (this->polygons_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 40 *(outbuffer + offset + 1) = (this->polygons_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 41 *(outbuffer + offset + 2) = (this->polygons_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 42 *(outbuffer + offset + 3) = (this->polygons_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 43 offset += sizeof(this->polygons_length);
scarter1 0:020db18a476d 44 for( uint32_t i = 0; i < polygons_length; i++){
scarter1 0:020db18a476d 45 offset += this->polygons[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 46 }
scarter1 0:020db18a476d 47 return offset;
scarter1 0:020db18a476d 48 }
scarter1 0:020db18a476d 49
scarter1 0:020db18a476d 50 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 51 {
scarter1 0:020db18a476d 52 int offset = 0;
scarter1 0:020db18a476d 53 offset += this->header.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 54 offset += this->cloud.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 55 uint32_t polygons_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 56 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 57 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 58 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 59 offset += sizeof(this->polygons_length);
scarter1 0:020db18a476d 60 if(polygons_lengthT > polygons_length)
scarter1 0:020db18a476d 61 this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
scarter1 0:020db18a476d 62 polygons_length = polygons_lengthT;
scarter1 0:020db18a476d 63 for( uint32_t i = 0; i < polygons_length; i++){
scarter1 0:020db18a476d 64 offset += this->st_polygons.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 65 memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
scarter1 0:020db18a476d 66 }
scarter1 0:020db18a476d 67 return offset;
scarter1 0:020db18a476d 68 }
scarter1 0:020db18a476d 69
scarter1 0:020db18a476d 70 const char * getType(){ return "pcl_msgs/PolygonMesh"; };
scarter1 0:020db18a476d 71 const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
scarter1 0:020db18a476d 72
scarter1 0:020db18a476d 73 };
scarter1 0:020db18a476d 74
scarter1 0:020db18a476d 75 }
scarter1 0:020db18a476d 76 #endif