Danil Ivanov / ros_lib_kinetic

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Dependencies:   BufferedSerial

shape_msgs/Mesh.h@3:d7bea56ad88b, 2020-03-30 (annotated)

Committer:
Anaph
Date:
Mon Mar 30 22:15:01 2020 +0000
Revision:
3:d7bea56ad88b
Parent:
0:9e9b7db60fd5 
No description

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_shape_msgs_Mesh_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_shape_msgs_Mesh_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "shape_msgs/MeshTriangle.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Point.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace shape_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class Mesh : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 uint32_t triangles_length;
garyservin 0:9e9b7db60fd5 18 typedef shape_msgs::MeshTriangle _triangles_type;
garyservin 0:9e9b7db60fd5 19 _triangles_type st_triangles;
garyservin 0:9e9b7db60fd5 20 _triangles_type * triangles;
garyservin 0:9e9b7db60fd5 21 uint32_t vertices_length;
garyservin 0:9e9b7db60fd5 22 typedef geometry_msgs::Point _vertices_type;
garyservin 0:9e9b7db60fd5 23 _vertices_type st_vertices;
garyservin 0:9e9b7db60fd5 24 _vertices_type * vertices;
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 Mesh():
garyservin 0:9e9b7db60fd5 27 triangles_length(0), triangles(NULL),
garyservin 0:9e9b7db60fd5 28 vertices_length(0), vertices(NULL)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 0) = (this->triangles_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 offset += sizeof(this->triangles_length);
garyservin 0:9e9b7db60fd5 40 for( uint32_t i = 0; i < triangles_length; i++){
garyservin 0:9e9b7db60fd5 41 offset += this->triangles[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->vertices_length);
garyservin 0:9e9b7db60fd5 48 for( uint32_t i = 0; i < vertices_length; i++){
garyservin 0:9e9b7db60fd5 49 offset += this->vertices[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51 return offset;
garyservin 0:9e9b7db60fd5 52 }
garyservin 0:9e9b7db60fd5 53
garyservin 0:9e9b7db60fd5 54 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 55 {
garyservin 0:9e9b7db60fd5 56 int offset = 0;
garyservin 0:9e9b7db60fd5 57 uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 58 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 59 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 60 triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->triangles_length);
garyservin 0:9e9b7db60fd5 62 if(triangles_lengthT > triangles_length)
garyservin 0:9e9b7db60fd5 63 this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
garyservin 0:9e9b7db60fd5 64 triangles_length = triangles_lengthT;
garyservin 0:9e9b7db60fd5 65 for( uint32_t i = 0; i < triangles_length; i++){
garyservin 0:9e9b7db60fd5 66 offset += this->st_triangles.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 67 memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
garyservin 0:9e9b7db60fd5 68 }
garyservin 0:9e9b7db60fd5 69 uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 70 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 71 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 72 vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->vertices_length);
garyservin 0:9e9b7db60fd5 74 if(vertices_lengthT > vertices_length)
garyservin 0:9e9b7db60fd5 75 this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 76 vertices_length = vertices_lengthT;
garyservin 0:9e9b7db60fd5 77 for( uint32_t i = 0; i < vertices_length; i++){
garyservin 0:9e9b7db60fd5 78 offset += this->st_vertices.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 79 memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81 return offset;
garyservin 0:9e9b7db60fd5 82 }
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 const char * getType(){ return "shape_msgs/Mesh"; };
garyservin 0:9e9b7db60fd5 85 const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 };
garyservin 0:9e9b7db60fd5 88
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90 #endif