ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

opencv_apps/Contour.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_opencv_apps_Contour_h
garyservin 0:fd24f7ca9688 2 #define _ROS_opencv_apps_Contour_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "opencv_apps/Point2D.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace opencv_apps
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class Contour : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 uint8_t points_length;
garyservin 0:fd24f7ca9688 17 opencv_apps::Point2D st_points;
garyservin 0:fd24f7ca9688 18 opencv_apps::Point2D * points;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 Contour():
garyservin 0:fd24f7ca9688 21 points_length(0), points(NULL)
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 }
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 int offset = 0;
garyservin 0:fd24f7ca9688 28 *(outbuffer + offset++) = points_length;
garyservin 0:fd24f7ca9688 29 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 30 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 31 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 32 for( uint8_t i = 0; i < points_length; i++){
garyservin 0:fd24f7ca9688 33 offset += this->points[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 34 }
garyservin 0:fd24f7ca9688 35 return offset;
garyservin 0:fd24f7ca9688 36 }
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 int offset = 0;
garyservin 0:fd24f7ca9688 41 uint8_t points_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 42 if(points_lengthT > points_length)
garyservin 0:fd24f7ca9688 43 this->points = (opencv_apps::Point2D*)realloc(this->points, points_lengthT * sizeof(opencv_apps::Point2D));
garyservin 0:fd24f7ca9688 44 offset += 3;
garyservin 0:fd24f7ca9688 45 points_length = points_lengthT;
garyservin 0:fd24f7ca9688 46 for( uint8_t i = 0; i < points_length; i++){
garyservin 0:fd24f7ca9688 47 offset += this->st_points.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 48 memcpy( &(this->points[i]), &(this->st_points), sizeof(opencv_apps::Point2D));
garyservin 0:fd24f7ca9688 49 }
garyservin 0:fd24f7ca9688 50 return offset;
garyservin 0:fd24f7ca9688 51 }
garyservin 0:fd24f7ca9688 52
garyservin 0:fd24f7ca9688 53 const char * getType(){ return "opencv_apps/Contour"; };
garyservin 0:fd24f7ca9688 54 const char * getMD5(){ return "8f02263beef99aa03117a577a3eb879d"; };
garyservin 0:fd24f7ca9688 55
garyservin 0:fd24f7ca9688 56 };
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 }
garyservin 0:fd24f7ca9688 59 #endif