hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

pcl_msgs/PolygonMesh.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_pcl_msgs_PolygonMesh_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_pcl_msgs_PolygonMesh_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9 #include "sensor_msgs/PointCloud2.h"
Gary Servin 0:04ac6be8229a 10 #include "pcl_msgs/Vertices.h"
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 namespace pcl_msgs
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class PolygonMesh : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 19 _header_type header;
Gary Servin 0:04ac6be8229a 20 typedef sensor_msgs::PointCloud2 _cloud_type;
Gary Servin 0:04ac6be8229a 21 _cloud_type cloud;
Gary Servin 0:04ac6be8229a 22 uint32_t polygons_length;
Gary Servin 0:04ac6be8229a 23 typedef pcl_msgs::Vertices _polygons_type;
Gary Servin 0:04ac6be8229a 24 _polygons_type st_polygons;
Gary Servin 0:04ac6be8229a 25 _polygons_type * polygons;
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 PolygonMesh():
Gary Servin 0:04ac6be8229a 28 header(),
Gary Servin 0:04ac6be8229a 29 cloud(),
Gary Servin 0:04ac6be8229a 30 polygons_length(0), polygons(NULL)
Gary Servin 0:04ac6be8229a 31 {
Gary Servin 0:04ac6be8229a 32 }
Gary Servin 0:04ac6be8229a 33
Gary Servin 0:04ac6be8229a 34 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 35 {
Gary Servin 0:04ac6be8229a 36 int offset = 0;
Gary Servin 0:04ac6be8229a 37 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 38 offset += this->cloud.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 0) = (this->polygons_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 1) = (this->polygons_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 2) = (this->polygons_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 3) = (this->polygons_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 offset += sizeof(this->polygons_length);
Gary Servin 0:04ac6be8229a 44 for( uint32_t i = 0; i < polygons_length; i++){
Gary Servin 0:04ac6be8229a 45 offset += this->polygons[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 46 }
Gary Servin 0:04ac6be8229a 47 return offset;
Gary Servin 0:04ac6be8229a 48 }
Gary Servin 0:04ac6be8229a 49
Gary Servin 0:04ac6be8229a 50 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 51 {
Gary Servin 0:04ac6be8229a 52 int offset = 0;
Gary Servin 0:04ac6be8229a 53 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 54 offset += this->cloud.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 55 uint32_t polygons_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 56 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 57 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 58 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 59 offset += sizeof(this->polygons_length);
Gary Servin 0:04ac6be8229a 60 if(polygons_lengthT > polygons_length)
Gary Servin 0:04ac6be8229a 61 this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
Gary Servin 0:04ac6be8229a 62 polygons_length = polygons_lengthT;
Gary Servin 0:04ac6be8229a 63 for( uint32_t i = 0; i < polygons_length; i++){
Gary Servin 0:04ac6be8229a 64 offset += this->st_polygons.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 65 memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
Gary Servin 0:04ac6be8229a 66 }
Gary Servin 0:04ac6be8229a 67 return offset;
Gary Servin 0:04ac6be8229a 68 }
Gary Servin 0:04ac6be8229a 69
Gary Servin 0:04ac6be8229a 70 const char * getType(){ return "pcl_msgs/PolygonMesh"; };
Gary Servin 0:04ac6be8229a 71 const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
Gary Servin 0:04ac6be8229a 72
Gary Servin 0:04ac6be8229a 73 };
Gary Servin 0:04ac6be8229a 74
Gary Servin 0:04ac6be8229a 75 }
Gary Servin 0:04ac6be8229a 76 #endif