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/ContourArrayStamped.h@0:fd24f7ca9688, 2016-03-31 (annotated)

Committer:
garyservin
Date:
Thu Mar 31 14:22:59 2016 +0000
Revision:
0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_opencv_apps_ContourArrayStamped_h
garyservin 0:fd24f7ca9688 2 #define _ROS_opencv_apps_ContourArrayStamped_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 "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "opencv_apps/Contour.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace opencv_apps
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class ContourArrayStamped : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 uint8_t contours_length;
garyservin 0:fd24f7ca9688 19 opencv_apps::Contour st_contours;
garyservin 0:fd24f7ca9688 20 opencv_apps::Contour * contours;
garyservin 0:fd24f7ca9688 21
garyservin 0:fd24f7ca9688 22 ContourArrayStamped():
garyservin 0:fd24f7ca9688 23 header(),
garyservin 0:fd24f7ca9688 24 contours_length(0), contours(NULL)
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 }
garyservin 0:fd24f7ca9688 27
garyservin 0:fd24f7ca9688 28 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 int offset = 0;
garyservin 0:fd24f7ca9688 31 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset++) = contours_length;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 36 for( uint8_t i = 0; i < contours_length; i++){
garyservin 0:fd24f7ca9688 37 offset += this->contours[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 38 }
garyservin 0:fd24f7ca9688 39 return offset;
garyservin 0:fd24f7ca9688 40 }
garyservin 0:fd24f7ca9688 41
garyservin 0:fd24f7ca9688 42 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 43 {
garyservin 0:fd24f7ca9688 44 int offset = 0;
garyservin 0:fd24f7ca9688 45 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 46 uint8_t contours_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 47 if(contours_lengthT > contours_length)
garyservin 0:fd24f7ca9688 48 this->contours = (opencv_apps::Contour*)realloc(this->contours, contours_lengthT * sizeof(opencv_apps::Contour));
garyservin 0:fd24f7ca9688 49 offset += 3;
garyservin 0:fd24f7ca9688 50 contours_length = contours_lengthT;
garyservin 0:fd24f7ca9688 51 for( uint8_t i = 0; i < contours_length; i++){
garyservin 0:fd24f7ca9688 52 offset += this->st_contours.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 53 memcpy( &(this->contours[i]), &(this->st_contours), sizeof(opencv_apps::Contour));
garyservin 0:fd24f7ca9688 54 }
garyservin 0:fd24f7ca9688 55 return offset;
garyservin 0:fd24f7ca9688 56 }
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 const char * getType(){ return "opencv_apps/ContourArrayStamped"; };
garyservin 0:fd24f7ca9688 59 const char * getMD5(){ return "6bcf2733566be102cf11fc89685fd962"; };
garyservin 0:fd24f7ca9688 60
garyservin 0:fd24f7ca9688 61 };
garyservin 0:fd24f7ca9688 62
garyservin 0:fd24f7ca9688 63 }
garyservin 0:fd24f7ca9688 64 #endif