Diff: sensor_msgs/PointCloud2.h

Revision:

3:1cf99502f396

Parent:

0:77afd7560544

--- a/sensor_msgs/PointCloud2.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/sensor_msgs/PointCloud2.h	Sat Nov 12 23:54:45 2011 +0000
@@ -1,10 +1,10 @@
-#ifndef ros_PointCloud2_h
-#define ros_PointCloud2_h
+#ifndef _ROS_sensor_msgs_PointCloud2_h
+#define _ROS_sensor_msgs_PointCloud2_h
 
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
-#include "../ros/msg.h"
+#include "ros/msg.h"
 #include "std_msgs/Header.h"
 #include "sensor_msgs/PointField.h"
 
@@ -15,93 +15,68 @@
   {
     public:
       std_msgs::Header header;
-      unsigned long height;
-      unsigned long width;
-      unsigned char fields_length;
+      uint32_t height;
+      uint32_t width;
+      uint8_t fields_length;
       sensor_msgs::PointField st_fields;
       sensor_msgs::PointField * fields;
       bool is_bigendian;
-      unsigned long point_step;
-      unsigned long row_step;
-      unsigned char data_length;
-      unsigned char st_data;
-      unsigned char * data;
+      uint32_t point_step;
+      uint32_t row_step;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
       bool is_dense;
 
-    virtual int serialize(unsigned char *outbuffer)
+    virtual int serialize(unsigned char *outbuffer) const
     {
       int offset = 0;
       offset += this->header.serialize(outbuffer + offset);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_height;
-      u_height.real = this->height;
-      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
       offset += sizeof(this->height);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_width;
-      u_width.real = this->width;
-      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
       offset += sizeof(this->width);
       *(outbuffer + offset++) = fields_length;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
-      for( unsigned char i = 0; i < fields_length; i++){
+      for( uint8_t i = 0; i < fields_length; i++){
       offset += this->fields[i].serialize(outbuffer + offset);
       }
       union {
         bool real;
-        unsigned char base;
+        uint8_t base;
       } u_is_bigendian;
       u_is_bigendian.real = this->is_bigendian;
       *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
       offset += sizeof(this->is_bigendian);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_point_step;
-      u_point_step.real = this->point_step;
-      *(outbuffer + offset + 0) = (u_point_step.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_point_step.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_point_step.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_point_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
       offset += sizeof(this->point_step);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_row_step;
-      u_row_step.real = this->row_step;
-      *(outbuffer + offset + 0) = (u_row_step.base >> (8 * 0)) & 0xFF;
-      *(outbuffer + offset + 1) = (u_row_step.base >> (8 * 1)) & 0xFF;
-      *(outbuffer + offset + 2) = (u_row_step.base >> (8 * 2)) & 0xFF;
-      *(outbuffer + offset + 3) = (u_row_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
       offset += sizeof(this->row_step);
       *(outbuffer + offset++) = data_length;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
-      for( unsigned char i = 0; i < data_length; i++){
-      union {
-        unsigned char real;
-        unsigned char base;
-      } u_datai;
-      u_datai.real = this->data[i];
-      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
       offset += sizeof(this->data[i]);
       }
       union {
         bool real;
-        unsigned char base;
+        uint8_t base;
       } u_is_dense;
       u_is_dense.real = this->is_dense;
       *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
@@ -113,95 +88,66 @@
     {
       int offset = 0;
       offset += this->header.deserialize(inbuffer + offset);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_height;
-      u_height.base = 0;
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->height = u_height.real;
+      this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->height);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_width;
-      u_width.base = 0;
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->width = u_width.real;
+      this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->width);
-      unsigned char fields_lengthT = *(inbuffer + offset++);
+      uint8_t fields_lengthT = *(inbuffer + offset++);
       if(fields_lengthT > fields_length)
         this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
       offset += 3;
       fields_length = fields_lengthT;
-      for( unsigned char i = 0; i < fields_length; i++){
+      for( uint8_t i = 0; i < fields_length; i++){
       offset += this->st_fields.deserialize(inbuffer + offset);
         memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
       }
       union {
         bool real;
-        unsigned char base;
+        uint8_t base;
       } u_is_bigendian;
       u_is_bigendian.base = 0;
-      u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
       this->is_bigendian = u_is_bigendian.real;
       offset += sizeof(this->is_bigendian);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_point_step;
-      u_point_step.base = 0;
-      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->point_step = u_point_step.real;
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->point_step);
-      union {
-        unsigned long real;
-        unsigned long base;
-      } u_row_step;
-      u_row_step.base = 0;
-      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 1))) << (8 * 1);
-      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 2))) << (8 * 2);
-      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 3))) << (8 * 3);
-      this->row_step = u_row_step.real;
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->row_step);
-      unsigned char data_lengthT = *(inbuffer + offset++);
+      uint8_t data_lengthT = *(inbuffer + offset++);
       if(data_lengthT > data_length)
-        this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char));
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
       offset += 3;
       data_length = data_lengthT;
-      for( unsigned char i = 0; i < data_length; i++){
-      union {
-        unsigned char real;
-        unsigned char base;
-      } u_st_data;
-      u_st_data.base = 0;
-      u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
-      this->st_data = u_st_data.real;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
       offset += sizeof(this->st_data);
-        memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char));
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
       }
       union {
         bool real;
-        unsigned char base;
+        uint8_t base;
       } u_is_dense;
       u_is_dense.base = 0;
-      u_is_dense.base |= ((typeof(u_is_dense.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
       this->is_dense = u_is_dense.real;
       offset += sizeof(this->is_dense);
      return offset;
     }
 
-   virtual const char * getType(){ return "sensor_msgs/PointCloud2"; };
+    virtual const char * getType(){ return "sensor_msgs/PointCloud2"; };
+    virtual const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
 
   };