Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

object_recognition_msgs/ObjectInformation.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_object_recognition_msgs_ObjectInformation_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_object_recognition_msgs_ObjectInformation_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "shape_msgs/Mesh.h"
akashvibhute 0:30537dec6e0b 9 #include "sensor_msgs/PointCloud2.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace object_recognition_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class ObjectInformation : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 const char* name;
akashvibhute 0:30537dec6e0b 18 shape_msgs::Mesh ground_truth_mesh;
akashvibhute 0:30537dec6e0b 19 sensor_msgs::PointCloud2 ground_truth_point_cloud;
akashvibhute 0:30537dec6e0b 20
akashvibhute 0:30537dec6e0b 21 ObjectInformation():
akashvibhute 0:30537dec6e0b 22 name(""),
akashvibhute 0:30537dec6e0b 23 ground_truth_mesh(),
akashvibhute 0:30537dec6e0b 24 ground_truth_point_cloud()
akashvibhute 0:30537dec6e0b 25 {
akashvibhute 0:30537dec6e0b 26 }
akashvibhute 0:30537dec6e0b 27
akashvibhute 0:30537dec6e0b 28 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 29 {
akashvibhute 0:30537dec6e0b 30 int offset = 0;
akashvibhute 0:30537dec6e0b 31 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 32 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 33 offset += 4;
akashvibhute 0:30537dec6e0b 34 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 35 offset += length_name;
akashvibhute 0:30537dec6e0b 36 offset += this->ground_truth_mesh.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 offset += this->ground_truth_point_cloud.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 38 return offset;
akashvibhute 0:30537dec6e0b 39 }
akashvibhute 0:30537dec6e0b 40
akashvibhute 0:30537dec6e0b 41 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 42 {
akashvibhute 0:30537dec6e0b 43 int offset = 0;
akashvibhute 0:30537dec6e0b 44 uint32_t length_name;
akashvibhute 0:30537dec6e0b 45 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 46 offset += 4;
akashvibhute 0:30537dec6e0b 47 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 48 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 49 }
akashvibhute 0:30537dec6e0b 50 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 51 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 52 offset += length_name;
akashvibhute 0:30537dec6e0b 53 offset += this->ground_truth_mesh.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 54 offset += this->ground_truth_point_cloud.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 55 return offset;
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 const char * getType(){ return "object_recognition_msgs/ObjectInformation"; };
akashvibhute 0:30537dec6e0b 59 const char * getMD5(){ return "921ec39f51c7b927902059cf3300ecde"; };
akashvibhute 0:30537dec6e0b 60
akashvibhute 0:30537dec6e0b 61 };
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64 #endif