Marker.h

00001 #ifndef _ROS_visualization_msgs_Marker_h
00002 #define _ROS_visualization_msgs_Marker_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 #include "geometry_msgs/Vector3.h"
00011 #include "std_msgs/ColorRGBA.h"
00012 #include "ros/duration.h"
00013 #include "geometry_msgs/Point.h"
00014 
00015 namespace visualization_msgs
00016 {
00017 
00018   class Marker : public ros::Msg
00019   {
00020     public:
00021       typedef std_msgs::Header _header_type;
00022       _header_type header;
00023       typedef const char* _ns_type;
00024       _ns_type ns;
00025       typedef int32_t _id_type;
00026       _id_type id;
00027       typedef int32_t _type_type;
00028       _type_type type;
00029       typedef int32_t _action_type;
00030       _action_type action;
00031       typedef geometry_msgs::Pose _pose_type;
00032       _pose_type pose;
00033       typedef geometry_msgs::Vector3 _scale_type;
00034       _scale_type scale;
00035       typedef std_msgs::ColorRGBA _color_type;
00036       _color_type color;
00037       typedef ros::Duration _lifetime_type;
00038       _lifetime_type lifetime;
00039       typedef bool _frame_locked_type;
00040       _frame_locked_type frame_locked;
00041       uint32_t points_length;
00042       typedef geometry_msgs::Point _points_type;
00043       _points_type st_points;
00044       _points_type * points;
00045       uint32_t colors_length;
00046       typedef std_msgs::ColorRGBA _colors_type;
00047       _colors_type st_colors;
00048       _colors_type * colors;
00049       typedef const char* _text_type;
00050       _text_type text;
00051       typedef const char* _mesh_resource_type;
00052       _mesh_resource_type mesh_resource;
00053       typedef bool _mesh_use_embedded_materials_type;
00054       _mesh_use_embedded_materials_type mesh_use_embedded_materials;
00055       enum { ARROW = 0 };
00056       enum { CUBE = 1 };
00057       enum { SPHERE = 2 };
00058       enum { CYLINDER = 3 };
00059       enum { LINE_STRIP = 4 };
00060       enum { LINE_LIST = 5 };
00061       enum { CUBE_LIST = 6 };
00062       enum { SPHERE_LIST = 7 };
00063       enum { POINTS = 8 };
00064       enum { TEXT_VIEW_FACING = 9 };
00065       enum { MESH_RESOURCE = 10 };
00066       enum { TRIANGLE_LIST = 11 };
00067       enum { ADD = 0 };
00068       enum { MODIFY = 0 };
00069       enum { DELETE = 2 };
00070       enum { DELETEALL = 3 };
00071 
00072     Marker():
00073       header(),
00074       ns(""),
00075       id(0),
00076       type(0),
00077       action(0),
00078       pose(),
00079       scale(),
00080       color(),
00081       lifetime(),
00082       frame_locked(0),
00083       points_length(0), points(NULL),
00084       colors_length(0), colors(NULL),
00085       text(""),
00086       mesh_resource(""),
00087       mesh_use_embedded_materials(0)
00088     {
00089     }
00090 
00091     virtual int serialize(unsigned char *outbuffer) const
00092     {
00093       int offset = 0;
00094       offset += this->header.serialize(outbuffer + offset);
00095       uint32_t length_ns = strlen(this->ns);
00096       varToArr(outbuffer + offset, length_ns);
00097       offset += 4;
00098       memcpy(outbuffer + offset, this->ns, length_ns);
00099       offset += length_ns;
00100       union {
00101         int32_t real;
00102         uint32_t base;
00103       } u_id;
00104       u_id.real = this->id;
00105       *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
00106       *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
00107       *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
00108       *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
00109       offset += sizeof(this->id);
00110       union {
00111         int32_t real;
00112         uint32_t base;
00113       } u_type;
00114       u_type.real = this->type;
00115       *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
00116       *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
00117       *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
00118       *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
00119       offset += sizeof(this->type);
00120       union {
00121         int32_t real;
00122         uint32_t base;
00123       } u_action;
00124       u_action.real = this->action;
00125       *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
00126       *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
00127       *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
00128       *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
00129       offset += sizeof(this->action);
00130       offset += this->pose.serialize(outbuffer + offset);
00131       offset += this->scale.serialize(outbuffer + offset);
00132       offset += this->color.serialize(outbuffer + offset);
00133       *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
00134       *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
00135       *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
00136       *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
00137       offset += sizeof(this->lifetime.sec);
00138       *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
00139       *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
00140       *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
00141       *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
00142       offset += sizeof(this->lifetime.nsec);
00143       union {
00144         bool real;
00145         uint8_t base;
00146       } u_frame_locked;
00147       u_frame_locked.real = this->frame_locked;
00148       *(outbuffer + offset + 0) = (u_frame_locked.base >> (8 * 0)) & 0xFF;
00149       offset += sizeof(this->frame_locked);
00150       *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
00151       *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
00152       *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
00153       *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
00154       offset += sizeof(this->points_length);
00155       for( uint32_t i = 0; i < points_length; i++){
00156       offset += this->points[i].serialize(outbuffer + offset);
00157       }
00158       *(outbuffer + offset + 0) = (this->colors_length >> (8 * 0)) & 0xFF;
00159       *(outbuffer + offset + 1) = (this->colors_length >> (8 * 1)) & 0xFF;
00160       *(outbuffer + offset + 2) = (this->colors_length >> (8 * 2)) & 0xFF;
00161       *(outbuffer + offset + 3) = (this->colors_length >> (8 * 3)) & 0xFF;
00162       offset += sizeof(this->colors_length);
00163       for( uint32_t i = 0; i < colors_length; i++){
00164       offset += this->colors[i].serialize(outbuffer + offset);
00165       }
00166       uint32_t length_text = strlen(this->text);
00167       varToArr(outbuffer + offset, length_text);
00168       offset += 4;
00169       memcpy(outbuffer + offset, this->text, length_text);
00170       offset += length_text;
00171       uint32_t length_mesh_resource = strlen(this->mesh_resource);
00172       varToArr(outbuffer + offset, length_mesh_resource);
00173       offset += 4;
00174       memcpy(outbuffer + offset, this->mesh_resource, length_mesh_resource);
00175       offset += length_mesh_resource;
00176       union {
00177         bool real;
00178         uint8_t base;
00179       } u_mesh_use_embedded_materials;
00180       u_mesh_use_embedded_materials.real = this->mesh_use_embedded_materials;
00181       *(outbuffer + offset + 0) = (u_mesh_use_embedded_materials.base >> (8 * 0)) & 0xFF;
00182       offset += sizeof(this->mesh_use_embedded_materials);
00183       return offset;
00184     }
00185 
00186     virtual int deserialize(unsigned char *inbuffer)
00187     {
00188       int offset = 0;
00189       offset += this->header.deserialize(inbuffer + offset);
00190       uint32_t length_ns;
00191       arrToVar(length_ns, (inbuffer + offset));
00192       offset += 4;
00193       for(unsigned int k= offset; k< offset+length_ns; ++k){
00194           inbuffer[k-1]=inbuffer[k];
00195       }
00196       inbuffer[offset+length_ns-1]=0;
00197       this->ns = (char *)(inbuffer + offset-1);
00198       offset += length_ns;
00199       union {
00200         int32_t real;
00201         uint32_t base;
00202       } u_id;
00203       u_id.base = 0;
00204       u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00205       u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00206       u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00207       u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00208       this->id = u_id.real;
00209       offset += sizeof(this->id);
00210       union {
00211         int32_t real;
00212         uint32_t base;
00213       } u_type;
00214       u_type.base = 0;
00215       u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00216       u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00217       u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00218       u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00219       this->type = u_type.real;
00220       offset += sizeof(this->type);
00221       union {
00222         int32_t real;
00223         uint32_t base;
00224       } u_action;
00225       u_action.base = 0;
00226       u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00227       u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00228       u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00229       u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00230       this->action = u_action.real;
00231       offset += sizeof(this->action);
00232       offset += this->pose.deserialize(inbuffer + offset);
00233       offset += this->scale.deserialize(inbuffer + offset);
00234       offset += this->color.deserialize(inbuffer + offset);
00235       this->lifetime.sec =  ((uint32_t) (*(inbuffer + offset)));
00236       this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00237       this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00238       this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00239       offset += sizeof(this->lifetime.sec);
00240       this->lifetime.nsec =  ((uint32_t) (*(inbuffer + offset)));
00241       this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00242       this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00243       this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00244       offset += sizeof(this->lifetime.nsec);
00245       union {
00246         bool real;
00247         uint8_t base;
00248       } u_frame_locked;
00249       u_frame_locked.base = 0;
00250       u_frame_locked.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00251       this->frame_locked = u_frame_locked.real;
00252       offset += sizeof(this->frame_locked);
00253       uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00254       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00255       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00256       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00257       offset += sizeof(this->points_length);
00258       if(points_lengthT > points_length)
00259         this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
00260       points_length = points_lengthT;
00261       for( uint32_t i = 0; i < points_length; i++){
00262       offset += this->st_points.deserialize(inbuffer + offset);
00263         memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
00264       }
00265       uint32_t colors_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00266       colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00267       colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00268       colors_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00269       offset += sizeof(this->colors_length);
00270       if(colors_lengthT > colors_length)
00271         this->colors = (std_msgs::ColorRGBA*)realloc(this->colors, colors_lengthT * sizeof(std_msgs::ColorRGBA));
00272       colors_length = colors_lengthT;
00273       for( uint32_t i = 0; i < colors_length; i++){
00274       offset += this->st_colors.deserialize(inbuffer + offset);
00275         memcpy( &(this->colors[i]), &(this->st_colors), sizeof(std_msgs::ColorRGBA));
00276       }
00277       uint32_t length_text;
00278       arrToVar(length_text, (inbuffer + offset));
00279       offset += 4;
00280       for(unsigned int k= offset; k< offset+length_text; ++k){
00281           inbuffer[k-1]=inbuffer[k];
00282       }
00283       inbuffer[offset+length_text-1]=0;
00284       this->text = (char *)(inbuffer + offset-1);
00285       offset += length_text;
00286       uint32_t length_mesh_resource;
00287       arrToVar(length_mesh_resource, (inbuffer + offset));
00288       offset += 4;
00289       for(unsigned int k= offset; k< offset+length_mesh_resource; ++k){
00290           inbuffer[k-1]=inbuffer[k];
00291       }
00292       inbuffer[offset+length_mesh_resource-1]=0;
00293       this->mesh_resource = (char *)(inbuffer + offset-1);
00294       offset += length_mesh_resource;
00295       union {
00296         bool real;
00297         uint8_t base;
00298       } u_mesh_use_embedded_materials;
00299       u_mesh_use_embedded_materials.base = 0;
00300       u_mesh_use_embedded_materials.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00301       this->mesh_use_embedded_materials = u_mesh_use_embedded_materials.real;
00302       offset += sizeof(this->mesh_use_embedded_materials);
00303      return offset;
00304     }
00305 
00306     const char * getType(){ return "visualization_msgs/Marker"; };
00307     const char * getMD5(){ return "4048c9de2a16f4ae8e0538085ebf1b97"; };
00308 
00309   };
00310 
00311 }
00312 #endif