Irfan Tito Kurniawan / ros_lib

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ros_lib/sensor_msgs/PointCloud2.h@0:8f3710bfd298, 2020-09-02 (annotated)

Committer:
irfantitok
Date:
Wed Sep 02 13:51:31 2020 +0000
Revision:
0:8f3710bfd298
Resolved round not found

Who changed what in which revision?

UserRevisionLine numberNew contents of line
irfantitok 0:8f3710bfd298 1 #ifndef _ROS_sensor_msgs_PointCloud2_h
irfantitok 0:8f3710bfd298 2 #define _ROS_sensor_msgs_PointCloud2_h
irfantitok 0:8f3710bfd298 3
irfantitok 0:8f3710bfd298 4 #include <stdint.h>
irfantitok 0:8f3710bfd298 5 #include <string.h>
irfantitok 0:8f3710bfd298 6 #include <stdlib.h>
irfantitok 0:8f3710bfd298 7 #include "ros/msg.h"
irfantitok 0:8f3710bfd298 8 #include "std_msgs/Header.h"
irfantitok 0:8f3710bfd298 9 #include "sensor_msgs/PointField.h"
irfantitok 0:8f3710bfd298 10
irfantitok 0:8f3710bfd298 11 namespace sensor_msgs
irfantitok 0:8f3710bfd298 12 {
irfantitok 0:8f3710bfd298 13
irfantitok 0:8f3710bfd298 14 class PointCloud2 : public ros::Msg
irfantitok 0:8f3710bfd298 15 {
irfantitok 0:8f3710bfd298 16 public:
irfantitok 0:8f3710bfd298 17 typedef std_msgs::Header _header_type;
irfantitok 0:8f3710bfd298 18 _header_type header;
irfantitok 0:8f3710bfd298 19 typedef uint32_t _height_type;
irfantitok 0:8f3710bfd298 20 _height_type height;
irfantitok 0:8f3710bfd298 21 typedef uint32_t _width_type;
irfantitok 0:8f3710bfd298 22 _width_type width;
irfantitok 0:8f3710bfd298 23 uint32_t fields_length;
irfantitok 0:8f3710bfd298 24 typedef sensor_msgs::PointField _fields_type;
irfantitok 0:8f3710bfd298 25 _fields_type st_fields;
irfantitok 0:8f3710bfd298 26 _fields_type * fields;
irfantitok 0:8f3710bfd298 27 typedef bool _is_bigendian_type;
irfantitok 0:8f3710bfd298 28 _is_bigendian_type is_bigendian;
irfantitok 0:8f3710bfd298 29 typedef uint32_t _point_step_type;
irfantitok 0:8f3710bfd298 30 _point_step_type point_step;
irfantitok 0:8f3710bfd298 31 typedef uint32_t _row_step_type;
irfantitok 0:8f3710bfd298 32 _row_step_type row_step;
irfantitok 0:8f3710bfd298 33 uint32_t data_length;
irfantitok 0:8f3710bfd298 34 typedef uint8_t _data_type;
irfantitok 0:8f3710bfd298 35 _data_type st_data;
irfantitok 0:8f3710bfd298 36 _data_type * data;
irfantitok 0:8f3710bfd298 37 typedef bool _is_dense_type;
irfantitok 0:8f3710bfd298 38 _is_dense_type is_dense;
irfantitok 0:8f3710bfd298 39
irfantitok 0:8f3710bfd298 40 PointCloud2():
irfantitok 0:8f3710bfd298 41 header(),
irfantitok 0:8f3710bfd298 42 height(0),
irfantitok 0:8f3710bfd298 43 width(0),
irfantitok 0:8f3710bfd298 44 fields_length(0), fields(NULL),
irfantitok 0:8f3710bfd298 45 is_bigendian(0),
irfantitok 0:8f3710bfd298 46 point_step(0),
irfantitok 0:8f3710bfd298 47 row_step(0),
irfantitok 0:8f3710bfd298 48 data_length(0), data(NULL),
irfantitok 0:8f3710bfd298 49 is_dense(0)
irfantitok 0:8f3710bfd298 50 {
irfantitok 0:8f3710bfd298 51 }
irfantitok 0:8f3710bfd298 52
irfantitok 0:8f3710bfd298 53 virtual int serialize(unsigned char *outbuffer) const
irfantitok 0:8f3710bfd298 54 {
irfantitok 0:8f3710bfd298 55 int offset = 0;
irfantitok 0:8f3710bfd298 56 offset += this->header.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 57 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 58 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 59 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 60 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 61 offset += sizeof(this->height);
irfantitok 0:8f3710bfd298 62 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 63 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 64 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 65 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 66 offset += sizeof(this->width);
irfantitok 0:8f3710bfd298 67 *(outbuffer + offset + 0) = (this->fields_length >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 68 *(outbuffer + offset + 1) = (this->fields_length >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 69 *(outbuffer + offset + 2) = (this->fields_length >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 70 *(outbuffer + offset + 3) = (this->fields_length >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 71 offset += sizeof(this->fields_length);
irfantitok 0:8f3710bfd298 72 for( uint32_t i = 0; i < fields_length; i++){
irfantitok 0:8f3710bfd298 73 offset += this->fields[i].serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 74 }
irfantitok 0:8f3710bfd298 75 union {
irfantitok 0:8f3710bfd298 76 bool real;
irfantitok 0:8f3710bfd298 77 uint8_t base;
irfantitok 0:8f3710bfd298 78 } u_is_bigendian;
irfantitok 0:8f3710bfd298 79 u_is_bigendian.real = this->is_bigendian;
irfantitok 0:8f3710bfd298 80 *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 81 offset += sizeof(this->is_bigendian);
irfantitok 0:8f3710bfd298 82 *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 83 *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 84 *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 85 *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 86 offset += sizeof(this->point_step);
irfantitok 0:8f3710bfd298 87 *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 88 *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 89 *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 90 *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 91 offset += sizeof(this->row_step);
irfantitok 0:8f3710bfd298 92 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 93 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 94 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 95 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 96 offset += sizeof(this->data_length);
irfantitok 0:8f3710bfd298 97 for( uint32_t i = 0; i < data_length; i++){
irfantitok 0:8f3710bfd298 98 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 99 offset += sizeof(this->data[i]);
irfantitok 0:8f3710bfd298 100 }
irfantitok 0:8f3710bfd298 101 union {
irfantitok 0:8f3710bfd298 102 bool real;
irfantitok 0:8f3710bfd298 103 uint8_t base;
irfantitok 0:8f3710bfd298 104 } u_is_dense;
irfantitok 0:8f3710bfd298 105 u_is_dense.real = this->is_dense;
irfantitok 0:8f3710bfd298 106 *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 107 offset += sizeof(this->is_dense);
irfantitok 0:8f3710bfd298 108 return offset;
irfantitok 0:8f3710bfd298 109 }
irfantitok 0:8f3710bfd298 110
irfantitok 0:8f3710bfd298 111 virtual int deserialize(unsigned char *inbuffer)
irfantitok 0:8f3710bfd298 112 {
irfantitok 0:8f3710bfd298 113 int offset = 0;
irfantitok 0:8f3710bfd298 114 offset += this->header.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 115 this->height = ((uint32_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 116 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 117 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 118 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 119 offset += sizeof(this->height);
irfantitok 0:8f3710bfd298 120 this->width = ((uint32_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 121 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 122 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 123 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 124 offset += sizeof(this->width);
irfantitok 0:8f3710bfd298 125 uint32_t fields_lengthT = ((uint32_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 126 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 127 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 128 fields_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 129 offset += sizeof(this->fields_length);
irfantitok 0:8f3710bfd298 130 if(fields_lengthT > fields_length)
irfantitok 0:8f3710bfd298 131 this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
irfantitok 0:8f3710bfd298 132 fields_length = fields_lengthT;
irfantitok 0:8f3710bfd298 133 for( uint32_t i = 0; i < fields_length; i++){
irfantitok 0:8f3710bfd298 134 offset += this->st_fields.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 135 memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
irfantitok 0:8f3710bfd298 136 }
irfantitok 0:8f3710bfd298 137 union {
irfantitok 0:8f3710bfd298 138 bool real;
irfantitok 0:8f3710bfd298 139 uint8_t base;
irfantitok 0:8f3710bfd298 140 } u_is_bigendian;
irfantitok 0:8f3710bfd298 141 u_is_bigendian.base = 0;
irfantitok 0:8f3710bfd298 142 u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 143 this->is_bigendian = u_is_bigendian.real;
irfantitok 0:8f3710bfd298 144 offset += sizeof(this->is_bigendian);
irfantitok 0:8f3710bfd298 145 this->point_step = ((uint32_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 146 this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 147 this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 148 this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 149 offset += sizeof(this->point_step);
irfantitok 0:8f3710bfd298 150 this->row_step = ((uint32_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 151 this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 152 this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 153 this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 154 offset += sizeof(this->row_step);
irfantitok 0:8f3710bfd298 155 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 156 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 157 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 158 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 159 offset += sizeof(this->data_length);
irfantitok 0:8f3710bfd298 160 if(data_lengthT > data_length)
irfantitok 0:8f3710bfd298 161 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
irfantitok 0:8f3710bfd298 162 data_length = data_lengthT;
irfantitok 0:8f3710bfd298 163 for( uint32_t i = 0; i < data_length; i++){
irfantitok 0:8f3710bfd298 164 this->st_data = ((uint8_t) (*(inbuffer + offset)));
irfantitok 0:8f3710bfd298 165 offset += sizeof(this->st_data);
irfantitok 0:8f3710bfd298 166 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
irfantitok 0:8f3710bfd298 167 }
irfantitok 0:8f3710bfd298 168 union {
irfantitok 0:8f3710bfd298 169 bool real;
irfantitok 0:8f3710bfd298 170 uint8_t base;
irfantitok 0:8f3710bfd298 171 } u_is_dense;
irfantitok 0:8f3710bfd298 172 u_is_dense.base = 0;
irfantitok 0:8f3710bfd298 173 u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 174 this->is_dense = u_is_dense.real;
irfantitok 0:8f3710bfd298 175 offset += sizeof(this->is_dense);
irfantitok 0:8f3710bfd298 176 return offset;
irfantitok 0:8f3710bfd298 177 }
irfantitok 0:8f3710bfd298 178
irfantitok 0:8f3710bfd298 179 const char * getType(){ return "sensor_msgs/PointCloud2"; };
irfantitok 0:8f3710bfd298 180 const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
irfantitok 0:8f3710bfd298 181
irfantitok 0:8f3710bfd298 182 };
irfantitok 0:8f3710bfd298 183
irfantitok 0:8f3710bfd298 184 }
irfantitok 0:8f3710bfd298 185 #endif