This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required
Fork of ros_lib_kinetic by
sensor_msgs/PointCloud.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_sensor_msgs_PointCloud_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_sensor_msgs_PointCloud_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "std_msgs/Header.h" |
garyservin | 0:9e9b7db60fd5 | 9 | #include "geometry_msgs/Point32.h" |
garyservin | 0:9e9b7db60fd5 | 10 | #include "sensor_msgs/ChannelFloat32.h" |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | namespace sensor_msgs |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | |
garyservin | 0:9e9b7db60fd5 | 15 | class PointCloud : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 16 | { |
garyservin | 0:9e9b7db60fd5 | 17 | public: |
garyservin | 0:9e9b7db60fd5 | 18 | typedef std_msgs::Header _header_type; |
garyservin | 0:9e9b7db60fd5 | 19 | _header_type header; |
garyservin | 0:9e9b7db60fd5 | 20 | uint32_t points_length; |
garyservin | 0:9e9b7db60fd5 | 21 | typedef geometry_msgs::Point32 _points_type; |
garyservin | 0:9e9b7db60fd5 | 22 | _points_type st_points; |
garyservin | 0:9e9b7db60fd5 | 23 | _points_type * points; |
garyservin | 0:9e9b7db60fd5 | 24 | uint32_t channels_length; |
garyservin | 0:9e9b7db60fd5 | 25 | typedef sensor_msgs::ChannelFloat32 _channels_type; |
garyservin | 0:9e9b7db60fd5 | 26 | _channels_type st_channels; |
garyservin | 0:9e9b7db60fd5 | 27 | _channels_type * channels; |
garyservin | 0:9e9b7db60fd5 | 28 | |
garyservin | 0:9e9b7db60fd5 | 29 | PointCloud(): |
garyservin | 0:9e9b7db60fd5 | 30 | header(), |
garyservin | 0:9e9b7db60fd5 | 31 | points_length(0), points(NULL), |
garyservin | 0:9e9b7db60fd5 | 32 | channels_length(0), channels(NULL) |
garyservin | 0:9e9b7db60fd5 | 33 | { |
garyservin | 0:9e9b7db60fd5 | 34 | } |
garyservin | 0:9e9b7db60fd5 | 35 | |
garyservin | 0:9e9b7db60fd5 | 36 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 37 | { |
garyservin | 0:9e9b7db60fd5 | 38 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 39 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 44 | offset += sizeof(this->points_length); |
garyservin | 0:9e9b7db60fd5 | 45 | for( uint32_t i = 0; i < points_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 46 | offset += this->points[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 47 | } |
garyservin | 0:9e9b7db60fd5 | 48 | *(outbuffer + offset + 0) = (this->channels_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 49 | *(outbuffer + offset + 1) = (this->channels_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 50 | *(outbuffer + offset + 2) = (this->channels_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 51 | *(outbuffer + offset + 3) = (this->channels_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 52 | offset += sizeof(this->channels_length); |
garyservin | 0:9e9b7db60fd5 | 53 | for( uint32_t i = 0; i < channels_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 54 | offset += this->channels[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 55 | } |
garyservin | 0:9e9b7db60fd5 | 56 | return offset; |
garyservin | 0:9e9b7db60fd5 | 57 | } |
garyservin | 0:9e9b7db60fd5 | 58 | |
garyservin | 0:9e9b7db60fd5 | 59 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 60 | { |
garyservin | 0:9e9b7db60fd5 | 61 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 62 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 63 | uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 64 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 65 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 66 | points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 67 | offset += sizeof(this->points_length); |
garyservin | 0:9e9b7db60fd5 | 68 | if(points_lengthT > points_length) |
garyservin | 0:9e9b7db60fd5 | 69 | this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32)); |
garyservin | 0:9e9b7db60fd5 | 70 | points_length = points_lengthT; |
garyservin | 0:9e9b7db60fd5 | 71 | for( uint32_t i = 0; i < points_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 72 | offset += this->st_points.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 73 | memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32)); |
garyservin | 0:9e9b7db60fd5 | 74 | } |
garyservin | 0:9e9b7db60fd5 | 75 | uint32_t channels_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 76 | channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 77 | channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 78 | channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 79 | offset += sizeof(this->channels_length); |
garyservin | 0:9e9b7db60fd5 | 80 | if(channels_lengthT > channels_length) |
garyservin | 0:9e9b7db60fd5 | 81 | this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32)); |
garyservin | 0:9e9b7db60fd5 | 82 | channels_length = channels_lengthT; |
garyservin | 0:9e9b7db60fd5 | 83 | for( uint32_t i = 0; i < channels_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 84 | offset += this->st_channels.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 85 | memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32)); |
garyservin | 0:9e9b7db60fd5 | 86 | } |
garyservin | 0:9e9b7db60fd5 | 87 | return offset; |
garyservin | 0:9e9b7db60fd5 | 88 | } |
garyservin | 0:9e9b7db60fd5 | 89 | |
garyservin | 0:9e9b7db60fd5 | 90 | const char * getType(){ return "sensor_msgs/PointCloud"; }; |
garyservin | 0:9e9b7db60fd5 | 91 | const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; }; |
garyservin | 0:9e9b7db60fd5 | 92 | |
garyservin | 0:9e9b7db60fd5 | 93 | }; |
garyservin | 0:9e9b7db60fd5 | 94 | |
garyservin | 0:9e9b7db60fd5 | 95 | } |
garyservin | 0:9e9b7db60fd5 | 96 | #endif |