Diff: sensor_msgs/PointField.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointField.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,92 @@
+#ifndef _ROS_sensor_msgs_PointField_h
+#define _ROS_sensor_msgs_PointField_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class PointField : public ros::Msg
+  {
+    public:
+      const char* name;
+      uint32_t offset;
+      uint8_t datatype;
+      uint32_t count;
+      enum { INT8 =  1 };
+      enum { UINT8 =  2 };
+      enum { INT16 =  3 };
+      enum { UINT16 =  4 };
+      enum { INT32 =  5 };
+      enum { UINT32 =  6 };
+      enum { FLOAT32 =  7 };
+      enum { FLOAT64 =  8 };
+
+    PointField():
+      name(""),
+      offset(0),
+      datatype(0),
+      count(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->offset);
+      *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->datatype);
+      *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->count);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      this->offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->offset);
+      this->datatype =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->datatype);
+      this->count =  ((uint32_t) (*(inbuffer + offset)));
+      this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->count);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointField"; };
+    const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
+
+  };
+
+}
+#endif
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