SolidPrimitive.h

00001 #ifndef _ROS_shape_msgs_SolidPrimitive_h
00002 #define _ROS_shape_msgs_SolidPrimitive_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace shape_msgs
00010 {
00011 
00012   class SolidPrimitive : public ros::Msg
00013   {
00014     public:
00015       uint8_t type;
00016       uint8_t dimensions_length;
00017       double st_dimensions;
00018       double * dimensions;
00019       enum { BOX = 1 };
00020       enum { SPHERE = 2 };
00021       enum { CYLINDER = 3 };
00022       enum { CONE = 4 };
00023       enum { BOX_X = 0 };
00024       enum { BOX_Y = 1 };
00025       enum { BOX_Z = 2 };
00026       enum { SPHERE_RADIUS = 0 };
00027       enum { CYLINDER_HEIGHT = 0 };
00028       enum { CYLINDER_RADIUS = 1 };
00029       enum { CONE_HEIGHT = 0 };
00030       enum { CONE_RADIUS = 1 };
00031 
00032     SolidPrimitive():
00033       type(0),
00034       dimensions_length(0), dimensions(NULL)
00035     {
00036     }
00037 
00038     virtual int serialize(unsigned char *outbuffer) const
00039     {
00040       int offset = 0;
00041       *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
00042       offset += sizeof(this->type);
00043       *(outbuffer + offset++) = dimensions_length;
00044       *(outbuffer + offset++) = 0;
00045       *(outbuffer + offset++) = 0;
00046       *(outbuffer + offset++) = 0;
00047       for( uint8_t i = 0; i < dimensions_length; i++){
00048       union {
00049         double real;
00050         uint64_t base;
00051       } u_dimensionsi;
00052       u_dimensionsi.real = this->dimensions[i];
00053       *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
00054       *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
00055       *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
00056       *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
00057       *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
00058       *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
00059       *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
00060       *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
00061       offset += sizeof(this->dimensions[i]);
00062       }
00063       return offset;
00064     }
00065 
00066     virtual int deserialize(unsigned char *inbuffer)
00067     {
00068       int offset = 0;
00069       this->type =  ((uint8_t) (*(inbuffer + offset)));
00070       offset += sizeof(this->type);
00071       uint8_t dimensions_lengthT = *(inbuffer + offset++);
00072       if(dimensions_lengthT > dimensions_length)
00073         this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
00074       offset += 3;
00075       dimensions_length = dimensions_lengthT;
00076       for( uint8_t i = 0; i < dimensions_length; i++){
00077       union {
00078         double real;
00079         uint64_t base;
00080       } u_st_dimensions;
00081       u_st_dimensions.base = 0;
00082       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00083       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00084       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00085       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00086       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00087       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00088       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00089       u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00090       this->st_dimensions = u_st_dimensions.real;
00091       offset += sizeof(this->st_dimensions);
00092         memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
00093       }
00094      return offset;
00095     }
00096 
00097     const char * getType(){ return "shape_msgs/SolidPrimitive"; };
00098     const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
00099 
00100   };
00101 
00102 }
00103 #endif