Diff: pcl_msgs/PolygonMesh.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pcl_msgs/PolygonMesh.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,69 @@
+#ifndef _ROS_pcl_msgs_PolygonMesh_h
+#define _ROS_pcl_msgs_PolygonMesh_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "pcl_msgs/Vertices.h"
+
+namespace pcl_msgs
+{
+
+  class PolygonMesh : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      sensor_msgs::PointCloud2 cloud;
+      uint8_t polygons_length;
+      pcl_msgs::Vertices st_polygons;
+      pcl_msgs::Vertices * polygons;
+
+    PolygonMesh():
+      header(),
+      cloud(),
+      polygons_length(0), polygons(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->cloud.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = polygons_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < polygons_length; i++){
+      offset += this->polygons[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->cloud.deserialize(inbuffer + offset);
+      uint8_t polygons_lengthT = *(inbuffer + offset++);
+      if(polygons_lengthT > polygons_length)
+        this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
+      offset += 3;
+      polygons_length = polygons_lengthT;
+      for( uint8_t i = 0; i < polygons_length; i++){
+      offset += this->st_polygons.deserialize(inbuffer + offset);
+        memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/PolygonMesh"; };
+    const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
+
+  };
+
+}
+#endif
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