rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
Diff: object_recognition_msgs/RecognizedObject.h
- Revision:
- 0:30537dec6e0b
diff -r 000000000000 -r 30537dec6e0b object_recognition_msgs/RecognizedObject.h --- /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