Fork of ROS Serial Library
Dependencies: BufferedSerial
sensor_msgs/PointCloud.h
- Committer:
- jdawkins
- Date:
- 2019-09-12
- Revision:
- 2:e75264f7cf89
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:e75264f7cf89:
#ifndef _ROS_sensor_msgs_PointCloud_h #define _ROS_sensor_msgs_PointCloud_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "geometry_msgs/Point32.h" #include "sensor_msgs/ChannelFloat32.h" namespace sensor_msgs { class PointCloud : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; uint32_t points_length; typedef geometry_msgs::Point32 _points_type; _points_type st_points; _points_type * points; uint32_t channels_length; typedef sensor_msgs::ChannelFloat32 _channels_type; _channels_type st_channels; _channels_type * channels; PointCloud(): header(), points_length(0), points(NULL), channels_length(0), channels(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF; offset += sizeof(this->points_length); for( uint32_t i = 0; i < points_length; i++){ offset += this->points[i].serialize(outbuffer + offset); } *(outbuffer + offset + 0) = (this->channels_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->channels_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->channels_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->channels_length >> (8 * 3)) & 0xFF; offset += sizeof(this->channels_length); for( uint32_t i = 0; i < channels_length; i++){ offset += this->channels[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->points_length); if(points_lengthT > points_length) this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32)); points_length = points_lengthT; for( uint32_t i = 0; i < points_length; i++){ offset += this->st_points.deserialize(inbuffer + offset); memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32)); } uint32_t channels_lengthT = ((uint32_t) (*(inbuffer + offset))); channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->channels_length); if(channels_lengthT > channels_length) this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32)); channels_length = channels_lengthT; for( uint32_t i = 0; i < channels_length; i++){ offset += this->st_channels.deserialize(inbuffer + offset); memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32)); } return offset; } const char * getType(){ return "sensor_msgs/PointCloud"; }; const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; }; }; } #endif