HumanSkeleton.h

00001 #ifndef _ROS_jsk_recognition_msgs_HumanSkeleton_h
00002 #define _ROS_jsk_recognition_msgs_HumanSkeleton_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 #include "jsk_recognition_msgs/Segment.h"
00010 
00011 namespace jsk_recognition_msgs
00012 {
00013 
00014   class HumanSkeleton : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       uint32_t bone_names_length;
00020       typedef char* _bone_names_type;
00021       _bone_names_type st_bone_names;
00022       _bone_names_type * bone_names;
00023       uint32_t bones_length;
00024       typedef jsk_recognition_msgs::Segment _bones_type;
00025       _bones_type st_bones;
00026       _bones_type * bones;
00027 
00028     HumanSkeleton():
00029       header(),
00030       bone_names_length(0), bone_names(NULL),
00031       bones_length(0), bones(NULL)
00032     {
00033     }
00034 
00035     virtual int serialize(unsigned char *outbuffer) const
00036     {
00037       int offset = 0;
00038       offset += this->header.serialize(outbuffer + offset);
00039       *(outbuffer + offset + 0) = (this->bone_names_length >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (this->bone_names_length >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (this->bone_names_length >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (this->bone_names_length >> (8 * 3)) & 0xFF;
00043       offset += sizeof(this->bone_names_length);
00044       for( uint32_t i = 0; i < bone_names_length; i++){
00045       uint32_t length_bone_namesi = strlen(this->bone_names[i]);
00046       varToArr(outbuffer + offset, length_bone_namesi);
00047       offset += 4;
00048       memcpy(outbuffer + offset, this->bone_names[i], length_bone_namesi);
00049       offset += length_bone_namesi;
00050       }
00051       *(outbuffer + offset + 0) = (this->bones_length >> (8 * 0)) & 0xFF;
00052       *(outbuffer + offset + 1) = (this->bones_length >> (8 * 1)) & 0xFF;
00053       *(outbuffer + offset + 2) = (this->bones_length >> (8 * 2)) & 0xFF;
00054       *(outbuffer + offset + 3) = (this->bones_length >> (8 * 3)) & 0xFF;
00055       offset += sizeof(this->bones_length);
00056       for( uint32_t i = 0; i < bones_length; i++){
00057       offset += this->bones[i].serialize(outbuffer + offset);
00058       }
00059       return offset;
00060     }
00061 
00062     virtual int deserialize(unsigned char *inbuffer)
00063     {
00064       int offset = 0;
00065       offset += this->header.deserialize(inbuffer + offset);
00066       uint32_t bone_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00067       bone_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00068       bone_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00069       bone_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00070       offset += sizeof(this->bone_names_length);
00071       if(bone_names_lengthT > bone_names_length)
00072         this->bone_names = (char**)realloc(this->bone_names, bone_names_lengthT * sizeof(char*));
00073       bone_names_length = bone_names_lengthT;
00074       for( uint32_t i = 0; i < bone_names_length; i++){
00075       uint32_t length_st_bone_names;
00076       arrToVar(length_st_bone_names, (inbuffer + offset));
00077       offset += 4;
00078       for(unsigned int k= offset; k< offset+length_st_bone_names; ++k){
00079           inbuffer[k-1]=inbuffer[k];
00080       }
00081       inbuffer[offset+length_st_bone_names-1]=0;
00082       this->st_bone_names = (char *)(inbuffer + offset-1);
00083       offset += length_st_bone_names;
00084         memcpy( &(this->bone_names[i]), &(this->st_bone_names), sizeof(char*));
00085       }
00086       uint32_t bones_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00087       bones_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00088       bones_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00089       bones_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00090       offset += sizeof(this->bones_length);
00091       if(bones_lengthT > bones_length)
00092         this->bones = (jsk_recognition_msgs::Segment*)realloc(this->bones, bones_lengthT * sizeof(jsk_recognition_msgs::Segment));
00093       bones_length = bones_lengthT;
00094       for( uint32_t i = 0; i < bones_length; i++){
00095       offset += this->st_bones.deserialize(inbuffer + offset);
00096         memcpy( &(this->bones[i]), &(this->st_bones), sizeof(jsk_recognition_msgs::Segment));
00097       }
00098      return offset;
00099     }
00100 
00101     virtual const char * getType(){ return "jsk_recognition_msgs/HumanSkeleton"; };
00102     virtual const char * getMD5(){ return "b8098e195ee1734e91bc2e38c969a23f"; };
00103 
00104   };
00105 
00106 }
00107 #endif