Diff: sensor_msgs/PointCloud2.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointCloud2.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,168 @@
+#ifndef _ROS_sensor_msgs_PointCloud2_h
+#define _ROS_sensor_msgs_PointCloud2_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointField.h"
+
+namespace sensor_msgs
+{
+
+  class PointCloud2 : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint32_t height;
+      uint32_t width;
+      uint8_t fields_length;
+      sensor_msgs::PointField st_fields;
+      sensor_msgs::PointField * fields;
+      bool is_bigendian;
+      uint32_t point_step;
+      uint32_t row_step;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
+      bool is_dense;
+
+    PointCloud2():
+      header(),
+      height(0),
+      width(0),
+      fields_length(0), fields(NULL),
+      is_bigendian(0),
+      point_step(0),
+      row_step(0),
+      data_length(0), data(NULL),
+      is_dense(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset++) = fields_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < fields_length; i++){
+      offset += this->fields[i].serialize(outbuffer + offset);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_bigendian;
+      u_is_bigendian.real = this->is_bigendian;
+      *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_bigendian);
+      *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->point_step);
+      *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->row_step);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_dense;
+      u_is_dense.real = this->is_dense;
+      *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_dense);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint8_t fields_lengthT = *(inbuffer + offset++);
+      if(fields_lengthT > fields_length)
+        this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
+      offset += 3;
+      fields_length = fields_lengthT;
+      for( uint8_t i = 0; i < fields_length; i++){
+      offset += this->st_fields.deserialize(inbuffer + offset);
+        memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_bigendian;
+      u_is_bigendian.base = 0;
+      u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_bigendian = u_is_bigendian.real;
+      offset += sizeof(this->is_bigendian);
+      this->point_step =  ((uint32_t) (*(inbuffer + offset)));
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->point_step);
+      this->row_step =  ((uint32_t) (*(inbuffer + offset)));
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->row_step);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_dense;
+      u_is_dense.base = 0;
+      u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_dense = u_is_dense.real;
+      offset += sizeof(this->is_dense);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointCloud2"; };
+    const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
+
+  };
+
+}
+#endif
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