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!

pcl_msgs/PolygonMesh.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_pcl_msgs_PolygonMesh_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_pcl_msgs_PolygonMesh_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 "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9 #include "sensor_msgs/PointCloud2.h"
akashvibhute 0:30537dec6e0b 10 #include "pcl_msgs/Vertices.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace pcl_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class PolygonMesh : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 19 sensor_msgs::PointCloud2 cloud;
akashvibhute 0:30537dec6e0b 20 uint8_t polygons_length;
akashvibhute 0:30537dec6e0b 21 pcl_msgs::Vertices st_polygons;
akashvibhute 0:30537dec6e0b 22 pcl_msgs::Vertices * polygons;
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 PolygonMesh():
akashvibhute 0:30537dec6e0b 25 header(),
akashvibhute 0:30537dec6e0b 26 cloud(),
akashvibhute 0:30537dec6e0b 27 polygons_length(0), polygons(NULL)
akashvibhute 0:30537dec6e0b 28 {
akashvibhute 0:30537dec6e0b 29 }
akashvibhute 0:30537dec6e0b 30
akashvibhute 0:30537dec6e0b 31 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 int offset = 0;
akashvibhute 0:30537dec6e0b 34 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 35 offset += this->cloud.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset++) = polygons_length;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 for( uint8_t i = 0; i < polygons_length; i++){
akashvibhute 0:30537dec6e0b 41 offset += this->polygons[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 42 }
akashvibhute 0:30537dec6e0b 43 return offset;
akashvibhute 0:30537dec6e0b 44 }
akashvibhute 0:30537dec6e0b 45
akashvibhute 0:30537dec6e0b 46 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 47 {
akashvibhute 0:30537dec6e0b 48 int offset = 0;
akashvibhute 0:30537dec6e0b 49 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 50 offset += this->cloud.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 51 uint8_t polygons_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 52 if(polygons_lengthT > polygons_length)
akashvibhute 0:30537dec6e0b 53 this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
akashvibhute 0:30537dec6e0b 54 offset += 3;
akashvibhute 0:30537dec6e0b 55 polygons_length = polygons_lengthT;
akashvibhute 0:30537dec6e0b 56 for( uint8_t i = 0; i < polygons_length; i++){
akashvibhute 0:30537dec6e0b 57 offset += this->st_polygons.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 58 memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
akashvibhute 0:30537dec6e0b 59 }
akashvibhute 0:30537dec6e0b 60 return offset;
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 const char * getType(){ return "pcl_msgs/PolygonMesh"; };
akashvibhute 0:30537dec6e0b 64 const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
akashvibhute 0:30537dec6e0b 65
akashvibhute 0:30537dec6e0b 66 };
akashvibhute 0:30537dec6e0b 67
akashvibhute 0:30537dec6e0b 68 }
akashvibhute 0:30537dec6e0b 69 #endif