Mesh.h

00001 #ifndef _ROS_shape_msgs_Mesh_h
00002 #define _ROS_shape_msgs_Mesh_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "shape_msgs/MeshTriangle.h"
00009 #include "geometry_msgs/Point.h"
00010 
00011 namespace shape_msgs
00012 {
00013 
00014   class Mesh : public ros::Msg
00015   {
00016     public:
00017       uint8_t triangles_length;
00018       shape_msgs::MeshTriangle st_triangles;
00019       shape_msgs::MeshTriangle * triangles;
00020       uint8_t vertices_length;
00021       geometry_msgs::Point st_vertices;
00022       geometry_msgs::Point * vertices;
00023 
00024     Mesh():
00025       triangles_length(0), triangles(NULL),
00026       vertices_length(0), vertices(NULL)
00027     {
00028     }
00029 
00030     virtual int serialize(unsigned char *outbuffer) const
00031     {
00032       int offset = 0;
00033       *(outbuffer + offset++) = triangles_length;
00034       *(outbuffer + offset++) = 0;
00035       *(outbuffer + offset++) = 0;
00036       *(outbuffer + offset++) = 0;
00037       for( uint8_t i = 0; i < triangles_length; i++){
00038       offset += this->triangles[i].serialize(outbuffer + offset);
00039       }
00040       *(outbuffer + offset++) = vertices_length;
00041       *(outbuffer + offset++) = 0;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       for( uint8_t i = 0; i < vertices_length; i++){
00045       offset += this->vertices[i].serialize(outbuffer + offset);
00046       }
00047       return offset;
00048     }
00049 
00050     virtual int deserialize(unsigned char *inbuffer)
00051     {
00052       int offset = 0;
00053       uint8_t triangles_lengthT = *(inbuffer + offset++);
00054       if(triangles_lengthT > triangles_length)
00055         this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
00056       offset += 3;
00057       triangles_length = triangles_lengthT;
00058       for( uint8_t i = 0; i < triangles_length; i++){
00059       offset += this->st_triangles.deserialize(inbuffer + offset);
00060         memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
00061       }
00062       uint8_t vertices_lengthT = *(inbuffer + offset++);
00063       if(vertices_lengthT > vertices_length)
00064         this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
00065       offset += 3;
00066       vertices_length = vertices_lengthT;
00067       for( uint8_t i = 0; i < vertices_length; i++){
00068       offset += this->st_vertices.deserialize(inbuffer + offset);
00069         memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
00070       }
00071      return offset;
00072     }
00073 
00074     const char * getType(){ return "shape_msgs/Mesh"; };
00075     const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
00076 
00077   };
00078 
00079 }
00080 #endif