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Diff: pcl_msgs/PolygonMesh.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pcl_msgs/PolygonMesh.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,76 @@ +#ifndef _ROS_pcl_msgs_PolygonMesh_h +#define _ROS_pcl_msgs_PolygonMesh_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" +#include "sensor_msgs/PointCloud2.h" +#include "pcl_msgs/Vertices.h" + +namespace pcl_msgs +{ + + class PolygonMesh : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + typedef sensor_msgs::PointCloud2 _cloud_type; + _cloud_type cloud; + uint32_t polygons_length; + typedef pcl_msgs::Vertices _polygons_type; + _polygons_type st_polygons; + _polygons_type * polygons; + + PolygonMesh(): + header(), + cloud(), + polygons_length(0), polygons(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + offset += this->cloud.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->polygons_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->polygons_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->polygons_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->polygons_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->polygons_length); + for( uint32_t i = 0; i < polygons_length; i++){ + offset += this->polygons[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + offset += this->cloud.deserialize(inbuffer + offset); + uint32_t polygons_lengthT = ((uint32_t) (*(inbuffer + offset))); + polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->polygons_length); + if(polygons_lengthT > polygons_length) + this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices)); + polygons_length = polygons_lengthT; + for( uint32_t i = 0; i < polygons_length; i++){ + offset += this->st_polygons.deserialize(inbuffer + offset); + memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices)); + } + return offset; + } + + const char * getType(){ return "pcl_msgs/PolygonMesh"; }; + const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; }; + + }; + +} +#endif \ No newline at end of file