Diff: object_recognition_msgs/RecognizedObject.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/object_recognition_msgs/RecognizedObject.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,123 @@
+#ifndef _ROS_object_recognition_msgs_RecognizedObject_h
+#define _ROS_object_recognition_msgs_RecognizedObject_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "object_recognition_msgs/ObjectType.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "shape_msgs/Mesh.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+
+namespace object_recognition_msgs
+{
+
+  class RecognizedObject : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      object_recognition_msgs::ObjectType type;
+      float confidence;
+      uint8_t point_clouds_length;
+      sensor_msgs::PointCloud2 st_point_clouds;
+      sensor_msgs::PointCloud2 * point_clouds;
+      shape_msgs::Mesh bounding_mesh;
+      uint8_t bounding_contours_length;
+      geometry_msgs::Point st_bounding_contours;
+      geometry_msgs::Point * bounding_contours;
+      geometry_msgs::PoseWithCovarianceStamped pose;
+
+    RecognizedObject():
+      header(),
+      type(),
+      confidence(0),
+      point_clouds_length(0), point_clouds(NULL),
+      bounding_mesh(),
+      bounding_contours_length(0), bounding_contours(NULL),
+      pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->type.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_confidence;
+      u_confidence.real = this->confidence;
+      *(outbuffer + offset + 0) = (u_confidence.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_confidence.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_confidence.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_confidence.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->confidence);
+      *(outbuffer + offset++) = point_clouds_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < point_clouds_length; i++){
+      offset += this->point_clouds[i].serialize(outbuffer + offset);
+      }
+      offset += this->bounding_mesh.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = bounding_contours_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < bounding_contours_length; i++){
+      offset += this->bounding_contours[i].serialize(outbuffer + offset);
+      }
+      offset += this->pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->type.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_confidence;
+      u_confidence.base = 0;
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->confidence = u_confidence.real;
+      offset += sizeof(this->confidence);
+      uint8_t point_clouds_lengthT = *(inbuffer + offset++);
+      if(point_clouds_lengthT > point_clouds_length)
+        this->point_clouds = (sensor_msgs::PointCloud2*)realloc(this->point_clouds, point_clouds_lengthT * sizeof(sensor_msgs::PointCloud2));
+      offset += 3;
+      point_clouds_length = point_clouds_lengthT;
+      for( uint8_t i = 0; i < point_clouds_length; i++){
+      offset += this->st_point_clouds.deserialize(inbuffer + offset);
+        memcpy( &(this->point_clouds[i]), &(this->st_point_clouds), sizeof(sensor_msgs::PointCloud2));
+      }
+      offset += this->bounding_mesh.deserialize(inbuffer + offset);
+      uint8_t bounding_contours_lengthT = *(inbuffer + offset++);
+      if(bounding_contours_lengthT > bounding_contours_length)
+        this->bounding_contours = (geometry_msgs::Point*)realloc(this->bounding_contours, bounding_contours_lengthT * sizeof(geometry_msgs::Point));
+      offset += 3;
+      bounding_contours_length = bounding_contours_lengthT;
+      for( uint8_t i = 0; i < bounding_contours_length; i++){
+      offset += this->st_bounding_contours.deserialize(inbuffer + offset);
+        memcpy( &(this->bounding_contours[i]), &(this->st_bounding_contours), sizeof(geometry_msgs::Point));
+      }
+      offset += this->pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "object_recognition_msgs/RecognizedObject"; };
+    const char * getMD5(){ return "f92c4cb29ba11f26c5f7219de97e900d"; };
+
+  };
+
+}
+#endif