PointCloud.h

00001 #ifndef _ROS_sensor_msgs_PointCloud_h
00002 #define _ROS_sensor_msgs_PointCloud_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 #include "geometry_msgs/Point32.h"
00010 #include "sensor_msgs/ChannelFloat32.h"
00011 
00012 namespace sensor_msgs
00013 {
00014 
00015   class PointCloud : public ros::Msg
00016   {
00017     public:
00018       typedef std_msgs::Header _header_type;
00019       _header_type header;
00020       uint32_t points_length;
00021       typedef geometry_msgs::Point32 _points_type;
00022       _points_type st_points;
00023       _points_type * points;
00024       uint32_t channels_length;
00025       typedef sensor_msgs::ChannelFloat32 _channels_type;
00026       _channels_type st_channels;
00027       _channels_type * channels;
00028 
00029     PointCloud():
00030       header(),
00031       points_length(0), points(NULL),
00032       channels_length(0), channels(NULL)
00033     {
00034     }
00035 
00036     virtual int serialize(unsigned char *outbuffer) const
00037     {
00038       int offset = 0;
00039       offset += this->header.serialize(outbuffer + offset);
00040       *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
00041       *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
00042       *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
00043       *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
00044       offset += sizeof(this->points_length);
00045       for( uint32_t i = 0; i < points_length; i++){
00046       offset += this->points[i].serialize(outbuffer + offset);
00047       }
00048       *(outbuffer + offset + 0) = (this->channels_length >> (8 * 0)) & 0xFF;
00049       *(outbuffer + offset + 1) = (this->channels_length >> (8 * 1)) & 0xFF;
00050       *(outbuffer + offset + 2) = (this->channels_length >> (8 * 2)) & 0xFF;
00051       *(outbuffer + offset + 3) = (this->channels_length >> (8 * 3)) & 0xFF;
00052       offset += sizeof(this->channels_length);
00053       for( uint32_t i = 0; i < channels_length; i++){
00054       offset += this->channels[i].serialize(outbuffer + offset);
00055       }
00056       return offset;
00057     }
00058 
00059     virtual int deserialize(unsigned char *inbuffer)
00060     {
00061       int offset = 0;
00062       offset += this->header.deserialize(inbuffer + offset);
00063       uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00064       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00065       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00066       points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00067       offset += sizeof(this->points_length);
00068       if(points_lengthT > points_length)
00069         this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
00070       points_length = points_lengthT;
00071       for( uint32_t i = 0; i < points_length; i++){
00072       offset += this->st_points.deserialize(inbuffer + offset);
00073         memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
00074       }
00075       uint32_t channels_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00076       channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00077       channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00078       channels_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00079       offset += sizeof(this->channels_length);
00080       if(channels_lengthT > channels_length)
00081         this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
00082       channels_length = channels_lengthT;
00083       for( uint32_t i = 0; i < channels_length; i++){
00084       offset += this->st_channels.deserialize(inbuffer + offset);
00085         memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
00086       }
00087      return offset;
00088     }
00089 
00090     const char * getType(){ return "sensor_msgs/PointCloud"; };
00091     const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
00092 
00093   };
00094 
00095 }
00096 #endif