Mesh.h

00001 #ifndef _ROS_shape_msgs_Mesh_h
00002 #define _ROS_shape_msgs_Mesh_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "shape_msgs/MeshTriangle.h"
00009 #include "geometry_msgs/Point.h"
00010 
00011 namespace shape_msgs
00012 {
00013 
00014   class Mesh : public ros::Msg
00015   {
00016     public:
00017       uint32_t triangles_length;
00018       typedef shape_msgs::MeshTriangle _triangles_type;
00019       _triangles_type st_triangles;
00020       _triangles_type * triangles;
00021       uint32_t vertices_length;
00022       typedef geometry_msgs::Point _vertices_type;
00023       _vertices_type st_vertices;
00024       _vertices_type * vertices;
00025 
00026     Mesh():
00027       triangles_length(0), triangles(NULL),
00028       vertices_length(0), vertices(NULL)
00029     {
00030     }
00031 
00032     virtual int serialize(unsigned char *outbuffer) const
00033     {
00034       int offset = 0;
00035       *(outbuffer + offset + 0) = (this->triangles_length >> (8 * 0)) & 0xFF;
00036       *(outbuffer + offset + 1) = (this->triangles_length >> (8 * 1)) & 0xFF;
00037       *(outbuffer + offset + 2) = (this->triangles_length >> (8 * 2)) & 0xFF;
00038       *(outbuffer + offset + 3) = (this->triangles_length >> (8 * 3)) & 0xFF;
00039       offset += sizeof(this->triangles_length);
00040       for( uint32_t i = 0; i < triangles_length; i++){
00041       offset += this->triangles[i].serialize(outbuffer + offset);
00042       }
00043       *(outbuffer + offset + 0) = (this->vertices_length >> (8 * 0)) & 0xFF;
00044       *(outbuffer + offset + 1) = (this->vertices_length >> (8 * 1)) & 0xFF;
00045       *(outbuffer + offset + 2) = (this->vertices_length >> (8 * 2)) & 0xFF;
00046       *(outbuffer + offset + 3) = (this->vertices_length >> (8 * 3)) & 0xFF;
00047       offset += sizeof(this->vertices_length);
00048       for( uint32_t i = 0; i < vertices_length; i++){
00049       offset += this->vertices[i].serialize(outbuffer + offset);
00050       }
00051       return offset;
00052     }
00053 
00054     virtual int deserialize(unsigned char *inbuffer)
00055     {
00056       int offset = 0;
00057       uint32_t triangles_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00058       triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00059       triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00060       triangles_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00061       offset += sizeof(this->triangles_length);
00062       if(triangles_lengthT > triangles_length)
00063         this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
00064       triangles_length = triangles_lengthT;
00065       for( uint32_t i = 0; i < triangles_length; i++){
00066       offset += this->st_triangles.deserialize(inbuffer + offset);
00067         memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
00068       }
00069       uint32_t vertices_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00070       vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00071       vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00072       vertices_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00073       offset += sizeof(this->vertices_length);
00074       if(vertices_lengthT > vertices_length)
00075         this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
00076       vertices_length = vertices_lengthT;
00077       for( uint32_t i = 0; i < vertices_length; i++){
00078       offset += this->st_vertices.deserialize(inbuffer + offset);
00079         memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
00080       }
00081      return offset;
00082     }
00083 
00084     const char * getType(){ return "shape_msgs/Mesh"; };
00085     const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
00086 
00087   };
00088 
00089 }
00090 #endif