Working towards recieving twists
Fork of ros_lib_kinetic by
Embed:
(wiki syntax)
Show/hide line numbers
Image.h
00001 #ifndef _ROS_sensor_msgs_Image_h 00002 #define _ROS_sensor_msgs_Image_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 00010 namespace sensor_msgs 00011 { 00012 00013 class Image : public ros::Msg 00014 { 00015 public: 00016 typedef std_msgs::Header _header_type; 00017 _header_type header; 00018 typedef uint32_t _height_type; 00019 _height_type height; 00020 typedef uint32_t _width_type; 00021 _width_type width; 00022 typedef const char* _encoding_type; 00023 _encoding_type encoding; 00024 typedef uint8_t _is_bigendian_type; 00025 _is_bigendian_type is_bigendian; 00026 typedef uint32_t _step_type; 00027 _step_type step; 00028 uint32_t data_length; 00029 typedef uint8_t _data_type; 00030 _data_type st_data; 00031 _data_type * data; 00032 00033 Image(): 00034 header(), 00035 height(0), 00036 width(0), 00037 encoding(""), 00038 is_bigendian(0), 00039 step(0), 00040 data_length(0), data(NULL) 00041 { 00042 } 00043 00044 virtual int serialize(unsigned char *outbuffer) const 00045 { 00046 int offset = 0; 00047 offset += this->header.serialize(outbuffer + offset); 00048 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; 00049 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; 00050 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; 00051 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; 00052 offset += sizeof(this->height); 00053 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; 00054 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; 00055 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; 00056 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; 00057 offset += sizeof(this->width); 00058 uint32_t length_encoding = strlen(this->encoding); 00059 varToArr(outbuffer + offset, length_encoding); 00060 offset += 4; 00061 memcpy(outbuffer + offset, this->encoding, length_encoding); 00062 offset += length_encoding; 00063 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF; 00064 offset += sizeof(this->is_bigendian); 00065 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF; 00066 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF; 00067 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF; 00068 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF; 00069 offset += sizeof(this->step); 00070 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF; 00071 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF; 00072 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF; 00073 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF; 00074 offset += sizeof(this->data_length); 00075 for( uint32_t i = 0; i < data_length; i++){ 00076 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF; 00077 offset += sizeof(this->data[i]); 00078 } 00079 return offset; 00080 } 00081 00082 virtual int deserialize(unsigned char *inbuffer) 00083 { 00084 int offset = 0; 00085 offset += this->header.deserialize(inbuffer + offset); 00086 this->height = ((uint32_t) (*(inbuffer + offset))); 00087 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00088 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00089 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00090 offset += sizeof(this->height); 00091 this->width = ((uint32_t) (*(inbuffer + offset))); 00092 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00093 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00094 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00095 offset += sizeof(this->width); 00096 uint32_t length_encoding; 00097 arrToVar(length_encoding, (inbuffer + offset)); 00098 offset += 4; 00099 for(unsigned int k= offset; k< offset+length_encoding; ++k){ 00100 inbuffer[k-1]=inbuffer[k]; 00101 } 00102 inbuffer[offset+length_encoding-1]=0; 00103 this->encoding = (char *)(inbuffer + offset-1); 00104 offset += length_encoding; 00105 this->is_bigendian = ((uint8_t) (*(inbuffer + offset))); 00106 offset += sizeof(this->is_bigendian); 00107 this->step = ((uint32_t) (*(inbuffer + offset))); 00108 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00109 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00110 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00111 offset += sizeof(this->step); 00112 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 00113 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00114 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00115 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00116 offset += sizeof(this->data_length); 00117 if(data_lengthT > data_length) 00118 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); 00119 data_length = data_lengthT; 00120 for( uint32_t i = 0; i < data_length; i++){ 00121 this->st_data = ((uint8_t) (*(inbuffer + offset))); 00122 offset += sizeof(this->st_data); 00123 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t)); 00124 } 00125 return offset; 00126 } 00127 00128 const char * getType(){ return "sensor_msgs/Image"; }; 00129 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; }; 00130 00131 }; 00132 00133 } 00134 #endif
Generated on Tue Jul 12 2022 21:32:16 by 1.7.2