Diff: sensor_msgs/PointCloud.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointCloud.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,85 @@
+#ifndef _ROS_sensor_msgs_PointCloud_h
+#define _ROS_sensor_msgs_PointCloud_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point32.h"
+#include "sensor_msgs/ChannelFloat32.h"
+
+namespace sensor_msgs
+{
+
+  class PointCloud : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t points_length;
+      geometry_msgs::Point32 st_points;
+      geometry_msgs::Point32 * points;
+      uint8_t channels_length;
+      sensor_msgs::ChannelFloat32 st_channels;
+      sensor_msgs::ChannelFloat32 * channels;
+
+    PointCloud():
+      header(),
+      points_length(0), points(NULL),
+      channels_length(0), channels(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = channels_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < channels_length; i++){
+      offset += this->channels[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
+      }
+      uint8_t channels_lengthT = *(inbuffer + offset++);
+      if(channels_lengthT > channels_length)
+        this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
+      offset += 3;
+      channels_length = channels_lengthT;
+      for( uint8_t i = 0; i < channels_length; i++){
+      offset += this->st_channels.deserialize(inbuffer + offset);
+        memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointCloud"; };
+    const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
+
+  };
+
+}
+#endif