PointCloud.h

00001 #ifndef _ROS_sensor_msgs_PointCloud_h
00002 #define _ROS_sensor_msgs_PointCloud_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/Point32.h"
00010 #include "sensor_msgs/ChannelFloat32.h"
00011 
00012 namespace sensor_msgs
00013 {
00014 
00015   class PointCloud : public ros::Msg
00016   {
00017     public:
00018       std_msgs::Header header;
00019       uint8_t points_length;
00020       geometry_msgs::Point32 st_points;
00021       geometry_msgs::Point32 * points;
00022       uint8_t channels_length;
00023       sensor_msgs::ChannelFloat32 st_channels;
00024       sensor_msgs::ChannelFloat32 * channels;
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       offset += this->header.serialize(outbuffer + offset);
00030       *(outbuffer + offset++) = points_length;
00031       *(outbuffer + offset++) = 0;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       for( uint8_t i = 0; i < points_length; i++){
00035       offset += this->points[i].serialize(outbuffer + offset);
00036       }
00037       *(outbuffer + offset++) = channels_length;
00038       *(outbuffer + offset++) = 0;
00039       *(outbuffer + offset++) = 0;
00040       *(outbuffer + offset++) = 0;
00041       for( uint8_t i = 0; i < channels_length; i++){
00042       offset += this->channels[i].serialize(outbuffer + offset);
00043       }
00044       return offset;
00045     }
00046 
00047     virtual int deserialize(unsigned char *inbuffer)
00048     {
00049       int offset = 0;
00050       offset += this->header.deserialize(inbuffer + offset);
00051       uint8_t points_lengthT = *(inbuffer + offset++);
00052       if(points_lengthT > points_length)
00053         this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
00054       offset += 3;
00055       points_length = points_lengthT;
00056       for( uint8_t i = 0; i < points_length; i++){
00057       offset += this->st_points.deserialize(inbuffer + offset);
00058         memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
00059       }
00060       uint8_t channels_lengthT = *(inbuffer + offset++);
00061       if(channels_lengthT > channels_length)
00062         this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
00063       offset += 3;
00064       channels_length = channels_lengthT;
00065       for( uint8_t i = 0; i < channels_length; i++){
00066       offset += this->st_channels.deserialize(inbuffer + offset);
00067         memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
00068       }
00069      return offset;
00070     }
00071 
00072     virtual const char * getType(){ return "sensor_msgs/PointCloud"; };
00073     virtual const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
00074 
00075   };
00076 
00077 }
00078 #endif