jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

sensor_msgs/PointCloud.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_sensor_msgs_PointCloud_h
jjzak 6:3c54bc7badd4 2 #define _ROS_sensor_msgs_PointCloud_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "std_msgs/Header.h"
jjzak 6:3c54bc7badd4 9 #include "geometry_msgs/Point32.h"
jjzak 6:3c54bc7badd4 10 #include "sensor_msgs/ChannelFloat32.h"
jjzak 6:3c54bc7badd4 11
jjzak 6:3c54bc7badd4 12 namespace sensor_msgs
jjzak 6:3c54bc7badd4 13 {
jjzak 6:3c54bc7badd4 14
jjzak 6:3c54bc7badd4 15 class PointCloud : public ros::Msg
jjzak 6:3c54bc7badd4 16 {
jjzak 6:3c54bc7badd4 17 public:
jjzak 6:3c54bc7badd4 18 std_msgs::Header header;
jjzak 6:3c54bc7badd4 19 uint8_t points_length;
jjzak 6:3c54bc7badd4 20 geometry_msgs::Point32 st_points;
jjzak 6:3c54bc7badd4 21 geometry_msgs::Point32 * points;
jjzak 6:3c54bc7badd4 22 uint8_t channels_length;
jjzak 6:3c54bc7badd4 23 sensor_msgs::ChannelFloat32 st_channels;
jjzak 6:3c54bc7badd4 24 sensor_msgs::ChannelFloat32 * channels;
jjzak 6:3c54bc7badd4 25
jjzak 6:3c54bc7badd4 26 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 27 {
jjzak 6:3c54bc7badd4 28 int offset = 0;
jjzak 6:3c54bc7badd4 29 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 30 *(outbuffer + offset++) = points_length;
jjzak 6:3c54bc7badd4 31 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 32 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 33 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 34 for( uint8_t i = 0; i < points_length; i++){
jjzak 6:3c54bc7badd4 35 offset += this->points[i].serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 36 }
jjzak 6:3c54bc7badd4 37 *(outbuffer + offset++) = channels_length;
jjzak 6:3c54bc7badd4 38 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 39 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 40 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 41 for( uint8_t i = 0; i < channels_length; i++){
jjzak 6:3c54bc7badd4 42 offset += this->channels[i].serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 43 }
jjzak 6:3c54bc7badd4 44 return offset;
jjzak 6:3c54bc7badd4 45 }
jjzak 6:3c54bc7badd4 46
jjzak 6:3c54bc7badd4 47 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 48 {
jjzak 6:3c54bc7badd4 49 int offset = 0;
jjzak 6:3c54bc7badd4 50 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 51 uint8_t points_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 52 if(points_lengthT > points_length)
jjzak 6:3c54bc7badd4 53 this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
jjzak 6:3c54bc7badd4 54 offset += 3;
jjzak 6:3c54bc7badd4 55 points_length = points_lengthT;
jjzak 6:3c54bc7badd4 56 for( uint8_t i = 0; i < points_length; i++){
jjzak 6:3c54bc7badd4 57 offset += this->st_points.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 58 memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
jjzak 6:3c54bc7badd4 59 }
jjzak 6:3c54bc7badd4 60 uint8_t channels_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 61 if(channels_lengthT > channels_length)
jjzak 6:3c54bc7badd4 62 this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
jjzak 6:3c54bc7badd4 63 offset += 3;
jjzak 6:3c54bc7badd4 64 channels_length = channels_lengthT;
jjzak 6:3c54bc7badd4 65 for( uint8_t i = 0; i < channels_length; i++){
jjzak 6:3c54bc7badd4 66 offset += this->st_channels.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 67 memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
jjzak 6:3c54bc7badd4 68 }
jjzak 6:3c54bc7badd4 69 return offset;
jjzak 6:3c54bc7badd4 70 }
jjzak 6:3c54bc7badd4 71
jjzak 6:3c54bc7badd4 72 const char * getType(){ return "sensor_msgs/PointCloud"; };
jjzak 6:3c54bc7badd4 73 const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
jjzak 6:3c54bc7badd4 74
jjzak 6:3c54bc7badd4 75 };
jjzak 6:3c54bc7badd4 76
jjzak 6:3c54bc7badd4 77 }
jjzak 6:3c54bc7badd4 78 #endif