SolidPrimitive.h

00001 #ifndef _ROS_shape_msgs_SolidPrimitive_h
00002 #define _ROS_shape_msgs_SolidPrimitive_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace shape_msgs
00010 {
00011 
00012   class SolidPrimitive : public ros::Msg
00013   {
00014     public:
00015       typedef uint8_t _type_type;
00016       _type_type type;
00017       uint32_t dimensions_length;
00018       typedef double _dimensions_type;
00019       _dimensions_type st_dimensions;
00020       _dimensions_type * dimensions;
00021       enum { BOX = 1 };
00022       enum { SPHERE = 2 };
00023       enum { CYLINDER = 3 };
00024       enum { CONE = 4 };
00025       enum { BOX_X = 0 };
00026       enum { BOX_Y = 1 };
00027       enum { BOX_Z = 2 };
00028       enum { SPHERE_RADIUS = 0 };
00029       enum { CYLINDER_HEIGHT = 0 };
00030       enum { CYLINDER_RADIUS = 1 };
00031       enum { CONE_HEIGHT = 0 };
00032       enum { CONE_RADIUS = 1 };
00033 
00034     SolidPrimitive():
00035       type(0),
00036       dimensions_length(0), dimensions(NULL)
00037     {
00038     }
00039 
00040     virtual int serialize(unsigned char *outbuffer) const
00041     {
00042       int offset = 0;
00043       *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
00044       offset += sizeof(this->type);
00045       *(outbuffer + offset + 0) = (this->dimensions_length >> (8 * 0)) & 0xFF;
00046       *(outbuffer + offset + 1) = (this->dimensions_length >> (8 * 1)) & 0xFF;
00047       *(outbuffer + offset + 2) = (this->dimensions_length >> (8 * 2)) & 0xFF;
00048       *(outbuffer + offset + 3) = (this->dimensions_length >> (8 * 3)) & 0xFF;
00049       offset += sizeof(this->dimensions_length);
00050       for( uint32_t i = 0; i < dimensions_length; i++){
00051       union {
00052         double real;
00053         uint64_t base;
00054       } u_dimensionsi;
00055       u_dimensionsi.real = this->dimensions[i];
00056       *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
00057       *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
00058       *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
00059       *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
00060       *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
00061       *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
00062       *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
00063       *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
00064       offset += sizeof(this->dimensions[i]);
00065       }
00066       return offset;
00067     }
00068 
00069     virtual int deserialize(unsigned char *inbuffer)
00070     {
00071       int offset = 0;
00072       this->type =  ((uint8_t) (*(inbuffer + offset)));
00073       offset += sizeof(this->type);
00074       uint32_t dimensions_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00075       dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00076       dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00077       dimensions_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00078       offset += sizeof(this->dimensions_length);
00079       if(dimensions_lengthT > dimensions_length)
00080         this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
00081       dimensions_length = dimensions_lengthT;
00082       for( uint32_t i = 0; i < dimensions_length; i++){
00083       union {
00084         double real;
00085         uint64_t base;
00086       } u_st_dimensions;
00087       u_st_dimensions.base = 0;
00088       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00089       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00090       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00091       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00092       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00093       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00094       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00095       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00096       this->st_dimensions = u_st_dimensions.real;
00097       offset += sizeof(this->st_dimensions);
00098         memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
00099       }
00100      return offset;
00101     }
00102 
00103     const char * getType(){ return "shape_msgs/SolidPrimitive"; };
00104     const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
00105 
00106   };
00107 
00108 }
00109 #endif