ICPResult.h

00001 #ifndef _ROS_jsk_recognition_msgs_ICPResult_h
00002 #define _ROS_jsk_recognition_msgs_ICPResult_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 "geometry_msgs/Pose.h"
00010 
00011 namespace jsk_recognition_msgs
00012 {
00013 
00014   class ICPResult : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       typedef geometry_msgs::Pose _pose_type;
00020       _pose_type pose;
00021       typedef const char* _name_type;
00022       _name_type name;
00023       typedef double _score_type;
00024       _score_type score;
00025 
00026     ICPResult():
00027       header(),
00028       pose(),
00029       name(""),
00030       score(0)
00031     {
00032     }
00033 
00034     virtual int serialize(unsigned char *outbuffer) const
00035     {
00036       int offset = 0;
00037       offset += this->header.serialize(outbuffer + offset);
00038       offset += this->pose.serialize(outbuffer + offset);
00039       uint32_t length_name = strlen(this->name);
00040       varToArr(outbuffer + offset, length_name);
00041       offset += 4;
00042       memcpy(outbuffer + offset, this->name, length_name);
00043       offset += length_name;
00044       union {
00045         double real;
00046         uint64_t base;
00047       } u_score;
00048       u_score.real = this->score;
00049       *(outbuffer + offset + 0) = (u_score.base >> (8 * 0)) & 0xFF;
00050       *(outbuffer + offset + 1) = (u_score.base >> (8 * 1)) & 0xFF;
00051       *(outbuffer + offset + 2) = (u_score.base >> (8 * 2)) & 0xFF;
00052       *(outbuffer + offset + 3) = (u_score.base >> (8 * 3)) & 0xFF;
00053       *(outbuffer + offset + 4) = (u_score.base >> (8 * 4)) & 0xFF;
00054       *(outbuffer + offset + 5) = (u_score.base >> (8 * 5)) & 0xFF;
00055       *(outbuffer + offset + 6) = (u_score.base >> (8 * 6)) & 0xFF;
00056       *(outbuffer + offset + 7) = (u_score.base >> (8 * 7)) & 0xFF;
00057       offset += sizeof(this->score);
00058       return offset;
00059     }
00060 
00061     virtual int deserialize(unsigned char *inbuffer)
00062     {
00063       int offset = 0;
00064       offset += this->header.deserialize(inbuffer + offset);
00065       offset += this->pose.deserialize(inbuffer + offset);
00066       uint32_t length_name;
00067       arrToVar(length_name, (inbuffer + offset));
00068       offset += 4;
00069       for(unsigned int k= offset; k< offset+length_name; ++k){
00070           inbuffer[k-1]=inbuffer[k];
00071       }
00072       inbuffer[offset+length_name-1]=0;
00073       this->name = (char *)(inbuffer + offset-1);
00074       offset += length_name;
00075       union {
00076         double real;
00077         uint64_t base;
00078       } u_score;
00079       u_score.base = 0;
00080       u_score.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00081       u_score.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00082       u_score.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00083       u_score.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00084       u_score.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00085       u_score.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00086       u_score.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00087       u_score.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00088       this->score = u_score.real;
00089       offset += sizeof(this->score);
00090      return offset;
00091     }
00092 
00093     virtual const char * getType(){ return "jsk_recognition_msgs/ICPResult"; };
00094     virtual const char * getMD5(){ return "2d0f1279ba6f378fd67c4a0324acf2d7"; };
00095 
00096   };
00097 
00098 }
00099 #endif