Working towards recieving twists
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Diff: shape_msgs/Mesh.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/shape_msgs/Mesh.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,90 @@ +#ifndef _ROS_shape_msgs_Mesh_h +#define _ROS_shape_msgs_Mesh_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "shape_msgs/MeshTriangle.h" +#include "geometry_msgs/Point.h" + +namespace shape_msgs +{ + + class Mesh : public ros::Msg + { + public: + uint32_t triangles_length; + typedef shape_msgs::MeshTriangle _triangles_type; + _triangles_type st_triangles; + _triangles_type * triangles; + uint32_t vertices_length; + typedef geometry_msgs::Point _vertices_type; + _vertices_type st_vertices; + _vertices_type * vertices; + + Mesh(): + triangles_length(0), triangles(NULL), + vertices_length(0), vertices(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + *(outbuffer + offset + 0) = (this->triangles_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->triangles_length); + for( uint32_t i = 0; i < triangles_length; i++){ + offset += this->triangles[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->vertices_length); + for( uint32_t i = 0; i < vertices_length; i++){ + offset += this->vertices[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset))); + triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->triangles_length); + if(triangles_lengthT > triangles_length) + this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle)); + triangles_length = triangles_lengthT; + for( uint32_t i = 0; i < triangles_length; i++){ + offset += this->st_triangles.deserialize(inbuffer + offset); + memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle)); + } + uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset))); + vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->vertices_length); + if(vertices_lengthT > vertices_length) + this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point)); + vertices_length = vertices_lengthT; + for( uint32_t i = 0; i < vertices_length; i++){ + offset += this->st_vertices.deserialize(inbuffer + offset); + memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point)); + } + return offset; + } + + const char * getType(){ return "shape_msgs/Mesh"; }; + const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; }; + + }; + +} +#endif \ No newline at end of file