Diff: sensor_msgs/PointCloud2.h

Revision:

0:77afd7560544

Child:

3:1cf99502f396

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointCloud2.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,209 @@
+#ifndef ros_PointCloud2_h
+#define ros_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;
+      unsigned long height;
+      unsigned long width;
+      unsigned char fields_length;
+      sensor_msgs::PointField st_fields;
+      sensor_msgs::PointField * fields;
+      bool is_bigendian;
+      unsigned long point_step;
+      unsigned long row_step;
+      unsigned char data_length;
+      unsigned char st_data;
+      unsigned char * data;
+      bool is_dense;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_height;
+      u_height.real = this->height;
+      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_width;
+      u_width.real = this->width;
+      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset++) = fields_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < fields_length; i++){
+      offset += this->fields[i].serialize(outbuffer + offset);
+      }
+      union {
+        bool real;
+        unsigned char 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);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_point_step;
+      u_point_step.real = this->point_step;
+      *(outbuffer + offset + 0) = (u_point_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_point_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_point_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_point_step.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->point_step);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_row_step;
+      u_row_step.real = this->row_step;
+      *(outbuffer + offset + 0) = (u_row_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_row_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_row_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_row_step.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->row_step);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < data_length; i++){
+      union {
+        unsigned char real;
+        unsigned char base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      union {
+        bool real;
+        unsigned char 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);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_height;
+      u_height.base = 0;
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->height = u_height.real;
+      offset += sizeof(this->height);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_width;
+      u_width.base = 0;
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->width = u_width.real;
+      offset += sizeof(this->width);
+      unsigned char 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( unsigned char 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;
+        unsigned char base;
+      } u_is_bigendian;
+      u_is_bigendian.base = 0;
+      u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_bigendian = u_is_bigendian.real;
+      offset += sizeof(this->is_bigendian);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_point_step;
+      u_point_step.base = 0;
+      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_point_step.base |= ((typeof(u_point_step.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->point_step = u_point_step.real;
+      offset += sizeof(this->point_step);
+      union {
+        unsigned long real;
+        unsigned long base;
+      } u_row_step;
+      u_row_step.base = 0;
+      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_row_step.base |= ((typeof(u_row_step.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->row_step = u_row_step.real;
+      offset += sizeof(this->row_step);
+      unsigned char data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char));
+      offset += 3;
+      data_length = data_lengthT;
+      for( unsigned char i = 0; i < data_length; i++){
+      union {
+        unsigned char real;
+        unsigned char base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char));
+      }
+      union {
+        bool real;
+        unsigned char base;
+      } u_is_dense;
+      u_is_dense.base = 0;
+      u_is_dense.base |= ((typeof(u_is_dense.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_dense = u_is_dense.real;
+      offset += sizeof(this->is_dense);
+     return offset;
+    }
+
+   virtual const char * getType(){ return "sensor_msgs/PointCloud2"; };
+
+  };
+
+}
+#endif
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