Gary Servin / ros_lib_indigo

ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more

ROSSerial_mbed for Indigo Distribution

The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.

The rosserial_mbed package allows to write ROS nodes on any mbed enabled devices and have them connected to a running ROS system on your computer using the serial port.

Hello World (example publisher)

Import programrosserial_mbed_hello_world_publisher

rosserial_mbed Hello World

Last commit 19 Apr 2016 by Gary Servin

Running the Code

Now, launch the roscore in a new terminal window:

Quote:

$ roscore

Next, run the rosserial client application that forwards your MBED messages to the rest of ROS. Make sure to use the correct serial port:

Quote:

$ rosrun rosserial_python serial_node.py /dev/ttyACM0

Finally, watch the greetings come in from your MBED by launching a new terminal window and entering :

Quote:

$ rostopic echo chatter

See Also

More examples

Blink

/*
 * rosserial Subscriber Example
 * Blinks an LED on callback
 */
#include "mbed.h"
#include <ros.h>
#include <std_msgs/Empty.h>

ros::NodeHandle nh;
DigitalOut myled(LED1);

void messageCb(const std_msgs::Empty& toggle_msg){
    myled = !myled;   // blink the led
}

ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);

int main() {
    nh.initNode();
    nh.subscribe(sub);

    while (1) {
        nh.spinOnce();
        wait_ms(1);
    }
}

Push

/*
 * Button Example for Rosserial
 */

#include "mbed.h"
#include <ros.h>
#include <std_msgs/Bool.h>

PinName button = p20;

ros::NodeHandle nh;

std_msgs::Bool pushed_msg;
ros::Publisher pub_button("pushed", &pushed_msg);

DigitalIn button_pin(button);
DigitalOut led_pin(LED1);

bool last_reading;
long last_debounce_time=0;
long debounce_delay=50;
bool published = true;

Timer t;
int main() {
    t.start();
    nh.initNode();
    nh.advertise(pub_button);

    //Enable the pullup resistor on the button
    button_pin.mode(PullUp);

    //The button is a normally button
    last_reading = ! button_pin;

    while (1) {
        bool reading = ! button_pin;

        if (last_reading!= reading) {
            last_debounce_time = t.read_ms();
            published = false;
        }

        //if the button value has not changed for the debounce delay, we know its stable
        if ( !published && (t.read_ms() - last_debounce_time)  > debounce_delay) {
            led_pin = reading;
            pushed_msg.data = reading;
            pub_button.publish(&pushed_msg);
            published = true;
        }

        last_reading = reading;

        nh.spinOnce();
    }
}

Diff: opencv_apps/Moment.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Moment.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,849 @@
+#ifndef _ROS_opencv_apps_Moment_h
+#define _ROS_opencv_apps_Moment_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Moment : public ros::Msg
+  {
+    public:
+      double m00;
+      double m10;
+      double m01;
+      double m20;
+      double m11;
+      double m02;
+      double m30;
+      double m21;
+      double m12;
+      double m03;
+      double mu20;
+      double mu11;
+      double mu02;
+      double mu30;
+      double mu21;
+      double mu12;
+      double mu03;
+      double nu20;
+      double nu11;
+      double nu02;
+      double nu30;
+      double nu21;
+      double nu12;
+      double nu03;
+      opencv_apps::Point2D center;
+      double length;
+      double area;
+
+    Moment():
+      m00(0),
+      m10(0),
+      m01(0),
+      m20(0),
+      m11(0),
+      m02(0),
+      m30(0),
+      m21(0),
+      m12(0),
+      m03(0),
+      mu20(0),
+      mu11(0),
+      mu02(0),
+      mu30(0),
+      mu21(0),
+      mu12(0),
+      mu03(0),
+      nu20(0),
+      nu11(0),
+      nu02(0),
+      nu30(0),
+      nu21(0),
+      nu12(0),
+      nu03(0),
+      center(),
+      length(0),
+      area(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m00;
+      u_m00.real = this->m00;
+      *(outbuffer + offset + 0) = (u_m00.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m00.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m00.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m00.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m00.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m00.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m00.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m00.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m00);
+      union {
+        double real;
+        uint64_t base;
+      } u_m10;
+      u_m10.real = this->m10;
+      *(outbuffer + offset + 0) = (u_m10.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m10.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m10.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m10.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m10.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m10.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m10.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m10.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m10);
+      union {
+        double real;
+        uint64_t base;
+      } u_m01;
+      u_m01.real = this->m01;
+      *(outbuffer + offset + 0) = (u_m01.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m01.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m01.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m01.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m01.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m01.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m01.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m01.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m01);
+      union {
+        double real;
+        uint64_t base;
+      } u_m20;
+      u_m20.real = this->m20;
+      *(outbuffer + offset + 0) = (u_m20.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m20.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m20.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m20.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m20.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m20.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m20.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m20.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m20);
+      union {
+        double real;
+        uint64_t base;
+      } u_m11;
+      u_m11.real = this->m11;
+      *(outbuffer + offset + 0) = (u_m11.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m11.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m11.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m11.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m11.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m11.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m11.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m11.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m11);
+      union {
+        double real;
+        uint64_t base;
+      } u_m02;
+      u_m02.real = this->m02;
+      *(outbuffer + offset + 0) = (u_m02.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m02.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m02.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m02.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m02.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m02.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m02.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m02.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m02);
+      union {
+        double real;
+        uint64_t base;
+      } u_m30;
+      u_m30.real = this->m30;
+      *(outbuffer + offset + 0) = (u_m30.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m30.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m30.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m30.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m30.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m30.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m30.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m30.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m30);
+      union {
+        double real;
+        uint64_t base;
+      } u_m21;
+      u_m21.real = this->m21;
+      *(outbuffer + offset + 0) = (u_m21.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m21.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m21.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m21.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m21.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m21.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m21.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m21.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m21);
+      union {
+        double real;
+        uint64_t base;
+      } u_m12;
+      u_m12.real = this->m12;
+      *(outbuffer + offset + 0) = (u_m12.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m12.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m12.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m12.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m12.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m12.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m12.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m12.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m12);
+      union {
+        double real;
+        uint64_t base;
+      } u_m03;
+      u_m03.real = this->m03;
+      *(outbuffer + offset + 0) = (u_m03.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m03.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m03.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m03.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m03.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m03.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m03.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m03.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m03);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu20;
+      u_mu20.real = this->mu20;
+      *(outbuffer + offset + 0) = (u_mu20.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu20.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu20.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu20.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu20.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu20.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu20.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu20.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu11;
+      u_mu11.real = this->mu11;
+      *(outbuffer + offset + 0) = (u_mu11.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu11.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu11.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu11.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu11.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu11.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu11.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu11.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu02;
+      u_mu02.real = this->mu02;
+      *(outbuffer + offset + 0) = (u_mu02.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu02.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu02.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu02.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu02.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu02.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu02.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu02.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu30;
+      u_mu30.real = this->mu30;
+      *(outbuffer + offset + 0) = (u_mu30.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu30.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu30.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu30.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu30.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu30.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu30.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu30.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu21;
+      u_mu21.real = this->mu21;
+      *(outbuffer + offset + 0) = (u_mu21.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu21.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu21.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu21.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu21.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu21.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu21.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu21.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu12;
+      u_mu12.real = this->mu12;
+      *(outbuffer + offset + 0) = (u_mu12.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu12.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu12.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu12.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu12.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu12.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu12.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu12.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu03;
+      u_mu03.real = this->mu03;
+      *(outbuffer + offset + 0) = (u_mu03.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu03.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu03.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu03.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu03.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu03.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu03.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu03.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu03);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu20;
+      u_nu20.real = this->nu20;
+      *(outbuffer + offset + 0) = (u_nu20.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu20.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu20.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu20.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu20.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu20.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu20.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu20.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu11;
+      u_nu11.real = this->nu11;
+      *(outbuffer + offset + 0) = (u_nu11.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu11.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu11.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu11.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu11.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu11.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu11.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu11.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu02;
+      u_nu02.real = this->nu02;
+      *(outbuffer + offset + 0) = (u_nu02.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu02.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu02.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu02.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu02.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu02.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu02.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu02.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu30;
+      u_nu30.real = this->nu30;
+      *(outbuffer + offset + 0) = (u_nu30.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu30.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu30.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu30.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu30.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu30.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu30.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu30.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu21;
+      u_nu21.real = this->nu21;
+      *(outbuffer + offset + 0) = (u_nu21.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu21.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu21.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu21.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu21.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu21.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu21.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu21.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu12;
+      u_nu12.real = this->nu12;
+      *(outbuffer + offset + 0) = (u_nu12.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu12.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu12.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu12.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu12.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu12.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu12.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu12.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu03;
+      u_nu03.real = this->nu03;
+      *(outbuffer + offset + 0) = (u_nu03.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu03.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu03.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu03.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu03.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu03.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu03.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu03.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu03);
+      offset += this->center.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_length;
+      u_length.real = this->length;
+      *(outbuffer + offset + 0) = (u_length.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_length.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_length.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_length.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_length.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_length.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_length.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_length.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->length);
+      union {
+        double real;
+        uint64_t base;
+      } u_area;
+      u_area.real = this->area;
+      *(outbuffer + offset + 0) = (u_area.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_area.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_area.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_area.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_area.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_area.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_area.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_area.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->area);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m00;
+      u_m00.base = 0;
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m00 = u_m00.real;
+      offset += sizeof(this->m00);
+      union {
+        double real;
+        uint64_t base;
+      } u_m10;
+      u_m10.base = 0;
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m10 = u_m10.real;
+      offset += sizeof(this->m10);
+      union {
+        double real;
+        uint64_t base;
+      } u_m01;
+      u_m01.base = 0;
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m01 = u_m01.real;
+      offset += sizeof(this->m01);
+      union {
+        double real;
+        uint64_t base;
+      } u_m20;
+      u_m20.base = 0;
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m20 = u_m20.real;
+      offset += sizeof(this->m20);
+      union {
+        double real;
+        uint64_t base;
+      } u_m11;
+      u_m11.base = 0;
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m11 = u_m11.real;
+      offset += sizeof(this->m11);
+      union {
+        double real;
+        uint64_t base;
+      } u_m02;
+      u_m02.base = 0;
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m02 = u_m02.real;
+      offset += sizeof(this->m02);
+      union {
+        double real;
+        uint64_t base;
+      } u_m30;
+      u_m30.base = 0;
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m30 = u_m30.real;
+      offset += sizeof(this->m30);
+      union {
+        double real;
+        uint64_t base;
+      } u_m21;
+      u_m21.base = 0;
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m21 = u_m21.real;
+      offset += sizeof(this->m21);
+      union {
+        double real;
+        uint64_t base;
+      } u_m12;
+      u_m12.base = 0;
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m12 = u_m12.real;
+      offset += sizeof(this->m12);
+      union {
+        double real;
+        uint64_t base;
+      } u_m03;
+      u_m03.base = 0;
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m03 = u_m03.real;
+      offset += sizeof(this->m03);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu20;
+      u_mu20.base = 0;
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu20 = u_mu20.real;
+      offset += sizeof(this->mu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu11;
+      u_mu11.base = 0;
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu11 = u_mu11.real;
+      offset += sizeof(this->mu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu02;
+      u_mu02.base = 0;
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu02 = u_mu02.real;
+      offset += sizeof(this->mu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu30;
+      u_mu30.base = 0;
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu30 = u_mu30.real;
+      offset += sizeof(this->mu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu21;
+      u_mu21.base = 0;
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu21 = u_mu21.real;
+      offset += sizeof(this->mu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu12;
+      u_mu12.base = 0;
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu12 = u_mu12.real;
+      offset += sizeof(this->mu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu03;
+      u_mu03.base = 0;
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu03 = u_mu03.real;
+      offset += sizeof(this->mu03);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu20;
+      u_nu20.base = 0;
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu20 = u_nu20.real;
+      offset += sizeof(this->nu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu11;
+      u_nu11.base = 0;
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu11 = u_nu11.real;
+      offset += sizeof(this->nu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu02;
+      u_nu02.base = 0;
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu02 = u_nu02.real;
+      offset += sizeof(this->nu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu30;
+      u_nu30.base = 0;
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu30 = u_nu30.real;
+      offset += sizeof(this->nu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu21;
+      u_nu21.base = 0;
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu21 = u_nu21.real;
+      offset += sizeof(this->nu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu12;
+      u_nu12.base = 0;
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu12 = u_nu12.real;
+      offset += sizeof(this->nu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu03;
+      u_nu03.base = 0;
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu03 = u_nu03.real;
+      offset += sizeof(this->nu03);
+      offset += this->center.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_length;
+      u_length.base = 0;
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->length = u_length.real;
+      offset += sizeof(this->length);
+      union {
+        double real;
+        uint64_t base;
+      } u_area;
+      u_area.base = 0;
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->area = u_area.real;
+      offset += sizeof(this->area);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Moment"; };
+    const char * getMD5(){ return "560ee3fabfffb4ed4155742d6db8a03c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file