nucho / Mbed 2 deprecated rosserial_mbed

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.

Dependencies:   rosserial_mbed_lib mbed Servo

sensor_msgs/PointCloud.h@0:06fc856e99ca, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:16 2011 +0000
Revision:
0:06fc856e99ca
Child:
3:dff241b66f84

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_PointCloud_h





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#define ros_PointCloud_h





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#include <stdint.h>





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#include <string.h>





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#include <stdlib.h>





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#include "../ros/msg.h"





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#include "std_msgs/Header.h"





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#include "geometry_msgs/Point32.h"





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#include "sensor_msgs/ChannelFloat32.h"





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namespace sensor_msgs





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{





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  class PointCloud : public ros::Msg





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  {





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    public:





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      std_msgs::Header header;





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      unsigned char points_length;





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      geometry_msgs::Point32 st_points;





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      geometry_msgs::Point32 * points;





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      unsigned char channels_length;





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      sensor_msgs::ChannelFloat32 st_channels;





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      sensor_msgs::ChannelFloat32 * channels;





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    virtual int serialize(unsigned char *outbuffer)





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    {





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      int offset = 0;





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      offset += this->header.serialize(outbuffer + offset);





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      *(outbuffer + offset++) = points_length;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      for( unsigned char i = 0; i < points_length; i++){





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      offset += this->points[i].serialize(outbuffer + offset);





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      }





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      *(outbuffer + offset++) = channels_length;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      for( unsigned char i = 0; i < channels_length; i++){





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      offset += this->channels[i].serialize(outbuffer + offset);





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      }





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      return offset;





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    }





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    virtual int deserialize(unsigned char *inbuffer)





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    {





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      int offset = 0;





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      offset += this->header.deserialize(inbuffer + offset);





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      unsigned char points_lengthT = *(inbuffer + offset++);





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      if(points_lengthT > points_length)





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        this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));





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      offset += 3;





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      points_length = points_lengthT;





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      for( unsigned char i = 0; i < points_length; i++){





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      offset += this->st_points.deserialize(inbuffer + offset);





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        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));





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      }





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      unsigned char channels_lengthT = *(inbuffer + offset++);





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      if(channels_lengthT > channels_length)





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        this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));





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      offset += 3;





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      channels_length = channels_lengthT;





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      for( unsigned char i = 0; i < channels_length; i++){





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      offset += this->st_channels.deserialize(inbuffer + offset);





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        memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));





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      }





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     return offset;





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    }





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   virtual const char * getType(){ return "sensor_msgs/PointCloud"; };





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  };





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}





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#endif