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Diff: sensor_msgs/PointCloud.h
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
diff -r 000000000000 -r 77afd7560544 sensor_msgs/PointCloud.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/PointCloud.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,77 @@ +#ifndef ros_PointCloud_h +#define ros_PointCloud_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" +#include "std_msgs/Header.h" +#include "geometry_msgs/Point32.h" +#include "sensor_msgs/ChannelFloat32.h" + +namespace sensor_msgs +{ + + class PointCloud : public ros::Msg + { + public: + std_msgs::Header header; + unsigned char points_length; + geometry_msgs::Point32 st_points; + geometry_msgs::Point32 * points; + unsigned char channels_length; + sensor_msgs::ChannelFloat32 st_channels; + sensor_msgs::ChannelFloat32 * channels; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(outbuffer + offset++) = points_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < points_length; i++){ + offset += this->points[i].serialize(outbuffer + offset); + } + *(outbuffer + offset++) = channels_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < channels_length; i++){ + offset += this->channels[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + unsigned char points_lengthT = *(inbuffer + offset++); + if(points_lengthT > points_length) + this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32)); + offset += 3; + points_length = points_lengthT; + for( unsigned char i = 0; i < points_length; i++){ + offset += this->st_points.deserialize(inbuffer + offset); + memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32)); + } + unsigned char channels_lengthT = *(inbuffer + offset++); + if(channels_lengthT > channels_length) + this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32)); + offset += 3; + channels_length = channels_lengthT; + for( unsigned char i = 0; i < channels_length; i++){ + offset += this->st_channels.deserialize(inbuffer + offset); + memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32)); + } + return offset; + } + + virtual const char * getType(){ return "sensor_msgs/PointCloud"; }; + + }; + +} +#endif \ No newline at end of file