Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h
Dependents: WRS2020_mecanum_node
PolygonMesh.h
00001 #ifndef _ROS_pcl_msgs_PolygonMesh_h 00002 #define _ROS_pcl_msgs_PolygonMesh_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "sensor_msgs/PointCloud2.h" 00010 #include "pcl_msgs/Vertices.h" 00011 00012 namespace pcl_msgs 00013 { 00014 00015 class PolygonMesh : public ros::Msg 00016 { 00017 public: 00018 typedef std_msgs::Header _header_type; 00019 _header_type header; 00020 typedef sensor_msgs::PointCloud2 _cloud_type; 00021 _cloud_type cloud; 00022 uint32_t polygons_length; 00023 typedef pcl_msgs::Vertices _polygons_type; 00024 _polygons_type st_polygons; 00025 _polygons_type * polygons; 00026 00027 PolygonMesh(): 00028 header(), 00029 cloud(), 00030 polygons_length(0), polygons(NULL) 00031 { 00032 } 00033 00034 virtual int serialize(unsigned char *outbuffer) const 00035 { 00036 int offset = 0; 00037 offset += this->header.serialize(outbuffer + offset); 00038 offset += this->cloud.serialize(outbuffer + offset); 00039 *(outbuffer + offset + 0) = (this->polygons_length >> (8 * 0)) & 0xFF; 00040 *(outbuffer + offset + 1) = (this->polygons_length >> (8 * 1)) & 0xFF; 00041 *(outbuffer + offset + 2) = (this->polygons_length >> (8 * 2)) & 0xFF; 00042 *(outbuffer + offset + 3) = (this->polygons_length >> (8 * 3)) & 0xFF; 00043 offset += sizeof(this->polygons_length); 00044 for( uint32_t i = 0; i < polygons_length; i++){ 00045 offset += this->polygons[i].serialize(outbuffer + offset); 00046 } 00047 return offset; 00048 } 00049 00050 virtual int deserialize(unsigned char *inbuffer) 00051 { 00052 int offset = 0; 00053 offset += this->header.deserialize(inbuffer + offset); 00054 offset += this->cloud.deserialize(inbuffer + offset); 00055 uint32_t polygons_lengthT = ((uint32_t) (*(inbuffer + offset))); 00056 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00057 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00058 polygons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00059 offset += sizeof(this->polygons_length); 00060 if(polygons_lengthT > polygons_length) 00061 this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices)); 00062 polygons_length = polygons_lengthT; 00063 for( uint32_t i = 0; i < polygons_length; i++){ 00064 offset += this->st_polygons.deserialize(inbuffer + offset); 00065 memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices)); 00066 } 00067 return offset; 00068 } 00069 00070 const char * getType(){ return "pcl_msgs/PolygonMesh"; }; 00071 const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; }; 00072 00073 }; 00074 00075 } 00076 #endif
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