Histogram.h

00001 #ifndef _ROS_jsk_recognition_msgs_Histogram_h
00002 #define _ROS_jsk_recognition_msgs_Histogram_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace jsk_recognition_msgs
00011 {
00012 
00013   class Histogram : public ros::Msg
00014   {
00015     public:
00016       typedef std_msgs::Header _header_type;
00017       _header_type header;
00018       uint32_t histogram_length;
00019       typedef double _histogram_type;
00020       _histogram_type st_histogram;
00021       _histogram_type * histogram;
00022 
00023     Histogram():
00024       header(),
00025       histogram_length(0), histogram(NULL)
00026     {
00027     }
00028 
00029     virtual int serialize(unsigned char *outbuffer) const
00030     {
00031       int offset = 0;
00032       offset += this->header.serialize(outbuffer + offset);
00033       *(outbuffer + offset + 0) = (this->histogram_length >> (8 * 0)) & 0xFF;
00034       *(outbuffer + offset + 1) = (this->histogram_length >> (8 * 1)) & 0xFF;
00035       *(outbuffer + offset + 2) = (this->histogram_length >> (8 * 2)) & 0xFF;
00036       *(outbuffer + offset + 3) = (this->histogram_length >> (8 * 3)) & 0xFF;
00037       offset += sizeof(this->histogram_length);
00038       for( uint32_t i = 0; i < histogram_length; i++){
00039       union {
00040         double real;
00041         uint64_t base;
00042       } u_histogrami;
00043       u_histogrami.real = this->histogram[i];
00044       *(outbuffer + offset + 0) = (u_histogrami.base >> (8 * 0)) & 0xFF;
00045       *(outbuffer + offset + 1) = (u_histogrami.base >> (8 * 1)) & 0xFF;
00046       *(outbuffer + offset + 2) = (u_histogrami.base >> (8 * 2)) & 0xFF;
00047       *(outbuffer + offset + 3) = (u_histogrami.base >> (8 * 3)) & 0xFF;
00048       *(outbuffer + offset + 4) = (u_histogrami.base >> (8 * 4)) & 0xFF;
00049       *(outbuffer + offset + 5) = (u_histogrami.base >> (8 * 5)) & 0xFF;
00050       *(outbuffer + offset + 6) = (u_histogrami.base >> (8 * 6)) & 0xFF;
00051       *(outbuffer + offset + 7) = (u_histogrami.base >> (8 * 7)) & 0xFF;
00052       offset += sizeof(this->histogram[i]);
00053       }
00054       return offset;
00055     }
00056 
00057     virtual int deserialize(unsigned char *inbuffer)
00058     {
00059       int offset = 0;
00060       offset += this->header.deserialize(inbuffer + offset);
00061       uint32_t histogram_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00062       histogram_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00063       histogram_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00064       histogram_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00065       offset += sizeof(this->histogram_length);
00066       if(histogram_lengthT > histogram_length)
00067         this->histogram = (double*)realloc(this->histogram, histogram_lengthT * sizeof(double));
00068       histogram_length = histogram_lengthT;
00069       for( uint32_t i = 0; i < histogram_length; i++){
00070       union {
00071         double real;
00072         uint64_t base;
00073       } u_st_histogram;
00074       u_st_histogram.base = 0;
00075       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00076       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00077       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00078       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00079       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00080       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00081       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00082       u_st_histogram.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00083       this->st_histogram = u_st_histogram.real;
00084       offset += sizeof(this->st_histogram);
00085         memcpy( &(this->histogram[i]), &(this->st_histogram), sizeof(double));
00086       }
00087      return offset;
00088     }
00089 
00090     virtual const char * getType(){ return "jsk_recognition_msgs/Histogram"; };
00091     virtual const char * getMD5(){ return "376372f016c22c39ab7ee6b6bdd0f10a"; };
00092 
00093   };
00094 
00095 }
00096 #endif