modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/PointCloud.h
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 0:77afd7560544:
#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