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

sensor_msgs/PointCloud2.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_sensor_msgs_PointCloud2_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_PointCloud2_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 "sensor_msgs/PointField.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace sensor_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class PointCloud2 : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 uint32_t height;
garyservin 0:fd24f7ca9688 19 uint32_t width;
garyservin 0:fd24f7ca9688 20 uint8_t fields_length;
garyservin 0:fd24f7ca9688 21 sensor_msgs::PointField st_fields;
garyservin 0:fd24f7ca9688 22 sensor_msgs::PointField * fields;
garyservin 0:fd24f7ca9688 23 bool is_bigendian;
garyservin 0:fd24f7ca9688 24 uint32_t point_step;
garyservin 0:fd24f7ca9688 25 uint32_t row_step;
garyservin 0:fd24f7ca9688 26 uint8_t data_length;
garyservin 0:fd24f7ca9688 27 uint8_t st_data;
garyservin 0:fd24f7ca9688 28 uint8_t * data;
garyservin 0:fd24f7ca9688 29 bool is_dense;
garyservin 0:fd24f7ca9688 30
garyservin 0:fd24f7ca9688 31 PointCloud2():
garyservin 0:fd24f7ca9688 32 header(),
garyservin 0:fd24f7ca9688 33 height(0),
garyservin 0:fd24f7ca9688 34 width(0),
garyservin 0:fd24f7ca9688 35 fields_length(0), fields(NULL),
garyservin 0:fd24f7ca9688 36 is_bigendian(0),
garyservin 0:fd24f7ca9688 37 point_step(0),
garyservin 0:fd24f7ca9688 38 row_step(0),
garyservin 0:fd24f7ca9688 39 data_length(0), data(NULL),
garyservin 0:fd24f7ca9688 40 is_dense(0)
garyservin 0:fd24f7ca9688 41 {
garyservin 0:fd24f7ca9688 42 }
garyservin 0:fd24f7ca9688 43
garyservin 0:fd24f7ca9688 44 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 45 {
garyservin 0:fd24f7ca9688 46 int offset = 0;
garyservin 0:fd24f7ca9688 47 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 52 offset += sizeof(this->height);
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 57 offset += sizeof(this->width);
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset++) = fields_length;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 62 for( uint8_t i = 0; i < fields_length; i++){
garyservin 0:fd24f7ca9688 63 offset += this->fields[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 64 }
garyservin 0:fd24f7ca9688 65 union {
garyservin 0:fd24f7ca9688 66 bool real;
garyservin 0:fd24f7ca9688 67 uint8_t base;
garyservin 0:fd24f7ca9688 68 } u_is_bigendian;
garyservin 0:fd24f7ca9688 69 u_is_bigendian.real = this->is_bigendian;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 71 offset += sizeof(this->is_bigendian);
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 75 *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 76 offset += sizeof(this->point_step);
garyservin 0:fd24f7ca9688 77 *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 78 *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 79 *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 80 *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 81 offset += sizeof(this->row_step);
garyservin 0:fd24f7ca9688 82 *(outbuffer + offset++) = data_length;
garyservin 0:fd24f7ca9688 83 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 84 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 85 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 86 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 87 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 88 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 89 }
garyservin 0:fd24f7ca9688 90 union {
garyservin 0:fd24f7ca9688 91 bool real;
garyservin 0:fd24f7ca9688 92 uint8_t base;
garyservin 0:fd24f7ca9688 93 } u_is_dense;
garyservin 0:fd24f7ca9688 94 u_is_dense.real = this->is_dense;
garyservin 0:fd24f7ca9688 95 *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 96 offset += sizeof(this->is_dense);
garyservin 0:fd24f7ca9688 97 return offset;
garyservin 0:fd24f7ca9688 98 }
garyservin 0:fd24f7ca9688 99
garyservin 0:fd24f7ca9688 100 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 101 {
garyservin 0:fd24f7ca9688 102 int offset = 0;
garyservin 0:fd24f7ca9688 103 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 104 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 105 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 106 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 107 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 108 offset += sizeof(this->height);
garyservin 0:fd24f7ca9688 109 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 110 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 111 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 112 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 113 offset += sizeof(this->width);
garyservin 0:fd24f7ca9688 114 uint8_t fields_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 115 if(fields_lengthT > fields_length)
garyservin 0:fd24f7ca9688 116 this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
garyservin 0:fd24f7ca9688 117 offset += 3;
garyservin 0:fd24f7ca9688 118 fields_length = fields_lengthT;
garyservin 0:fd24f7ca9688 119 for( uint8_t i = 0; i < fields_length; i++){
garyservin 0:fd24f7ca9688 120 offset += this->st_fields.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 121 memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
garyservin 0:fd24f7ca9688 122 }
garyservin 0:fd24f7ca9688 123 union {
garyservin 0:fd24f7ca9688 124 bool real;
garyservin 0:fd24f7ca9688 125 uint8_t base;
garyservin 0:fd24f7ca9688 126 } u_is_bigendian;
garyservin 0:fd24f7ca9688 127 u_is_bigendian.base = 0;
garyservin 0:fd24f7ca9688 128 u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 129 this->is_bigendian = u_is_bigendian.real;
garyservin 0:fd24f7ca9688 130 offset += sizeof(this->is_bigendian);
garyservin 0:fd24f7ca9688 131 this->point_step = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 132 this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 133 this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 134 this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 135 offset += sizeof(this->point_step);
garyservin 0:fd24f7ca9688 136 this->row_step = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 137 this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 138 this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 139 this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 140 offset += sizeof(this->row_step);
garyservin 0:fd24f7ca9688 141 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 142 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 143 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:fd24f7ca9688 144 offset += 3;
garyservin 0:fd24f7ca9688 145 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 146 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 147 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 148 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 149 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:fd24f7ca9688 150 }
garyservin 0:fd24f7ca9688 151 union {
garyservin 0:fd24f7ca9688 152 bool real;
garyservin 0:fd24f7ca9688 153 uint8_t base;
garyservin 0:fd24f7ca9688 154 } u_is_dense;
garyservin 0:fd24f7ca9688 155 u_is_dense.base = 0;
garyservin 0:fd24f7ca9688 156 u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 157 this->is_dense = u_is_dense.real;
garyservin 0:fd24f7ca9688 158 offset += sizeof(this->is_dense);
garyservin 0:fd24f7ca9688 159 return offset;
garyservin 0:fd24f7ca9688 160 }
garyservin 0:fd24f7ca9688 161
garyservin 0:fd24f7ca9688 162 const char * getType(){ return "sensor_msgs/PointCloud2"; };
garyservin 0:fd24f7ca9688 163 const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
garyservin 0:fd24f7ca9688 164
garyservin 0:fd24f7ca9688 165 };
garyservin 0:fd24f7ca9688 166
garyservin 0:fd24f7ca9688 167 }
garyservin 0:fd24f7ca9688 168 #endif