PolygonMesh.h

00001 #ifndef _ROS_pcl_msgs_PolygonMesh_h
00002 #define _ROS_pcl_msgs_PolygonMesh_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 "sensor_msgs/PointCloud2.h"
00010 #include "pcl_msgs/Vertices.h"
00011 
00012 namespace pcl_msgs
00013 {
00014 
00015   class PolygonMesh : public ros::Msg
00016   {
00017     public:
00018       typedef std_msgs::Header _header_type;
00019       _header_type header;
00020       typedef sensor_msgs::PointCloud2 _cloud_type;
00021       _cloud_type cloud;
00022       uint32_t polygons_length;
00023       typedef pcl_msgs::Vertices _polygons_type;
00024       _polygons_type st_polygons;
00025       _polygons_type * polygons;
00026 
00027     PolygonMesh():
00028       header(),
00029       cloud(),
00030       polygons_length(0), polygons(NULL)
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->cloud.serialize(outbuffer + offset);
00039       *(outbuffer + offset + 0) = (this->polygons_length >> (8 * 0)) & 0xFF;
00040       *(outbuffer + offset + 1) = (this->polygons_length >> (8 * 1)) & 0xFF;
00041       *(outbuffer + offset + 2) = (this->polygons_length >> (8 * 2)) & 0xFF;
00042       *(outbuffer + offset + 3) = (this->polygons_length >> (8 * 3)) & 0xFF;
00043       offset += sizeof(this->polygons_length);
00044       for( uint32_t i = 0; i < polygons_length; i++){
00045       offset += this->polygons[i].serialize(outbuffer + offset);
00046       }
00047       return offset;
00048     }
00049 
00050     virtual int deserialize(unsigned char *inbuffer)
00051     {
00052       int offset = 0;
00053       offset += this->header.deserialize(inbuffer + offset);
00054       offset += this->cloud.deserialize(inbuffer + offset);
00055       uint32_t polygons_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00056       polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00057       polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00058       polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00059       offset += sizeof(this->polygons_length);
00060       if(polygons_lengthT > polygons_length)
00061         this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
00062       polygons_length = polygons_lengthT;
00063       for( uint32_t i = 0; i < polygons_length; i++){
00064       offset += this->st_polygons.deserialize(inbuffer + offset);
00065         memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
00066       }
00067      return offset;
00068     }
00069 
00070     const char * getType(){ return "pcl_msgs/PolygonMesh"; };
00071     const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
00072 
00073   };
00074 
00075 }
00076 #endif