Go to the documentation of this file.00001 #ifndef _ROS_household_objects_database_msgs_DatabaseModelPose_h
00002 #define _ROS_household_objects_database_msgs_DatabaseModelPose_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "object_recognition_msgs/ObjectType.h"
00009 #include "geometry_msgs/PoseStamped.h"
00010
00011 namespace household_objects_database_msgs
00012 {
00013
00014 class DatabaseModelPose : public ros::Msg
00015 {
00016 public:
00017 int32_t model_id;
00018 object_recognition_msgs::ObjectType type;
00019 geometry_msgs::PoseStamped pose;
00020 float confidence;
00021 const char* detector_name;
00022
00023 virtual int serialize(unsigned char *outbuffer) const
00024 {
00025 int offset = 0;
00026 union {
00027 int32_t real;
00028 uint32_t base;
00029 } u_model_id;
00030 u_model_id.real = this->model_id;
00031 *(outbuffer + offset + 0) = (u_model_id.base >> (8 * 0)) & 0xFF;
00032 *(outbuffer + offset + 1) = (u_model_id.base >> (8 * 1)) & 0xFF;
00033 *(outbuffer + offset + 2) = (u_model_id.base >> (8 * 2)) & 0xFF;
00034 *(outbuffer + offset + 3) = (u_model_id.base >> (8 * 3)) & 0xFF;
00035 offset += sizeof(this->model_id);
00036 offset += this->type.serialize(outbuffer + offset);
00037 offset += this->pose.serialize(outbuffer + offset);
00038 union {
00039 float real;
00040 uint32_t base;
00041 } u_confidence;
00042 u_confidence.real = this->confidence;
00043 *(outbuffer + offset + 0) = (u_confidence.base >> (8 * 0)) & 0xFF;
00044 *(outbuffer + offset + 1) = (u_confidence.base >> (8 * 1)) & 0xFF;
00045 *(outbuffer + offset + 2) = (u_confidence.base >> (8 * 2)) & 0xFF;
00046 *(outbuffer + offset + 3) = (u_confidence.base >> (8 * 3)) & 0xFF;
00047 offset += sizeof(this->confidence);
00048 uint32_t length_detector_name = strlen(this->detector_name);
00049 memcpy(outbuffer + offset, &length_detector_name, sizeof(uint32_t));
00050 offset += 4;
00051 memcpy(outbuffer + offset, this->detector_name, length_detector_name);
00052 offset += length_detector_name;
00053 return offset;
00054 }
00055
00056 virtual int deserialize(unsigned char *inbuffer)
00057 {
00058 int offset = 0;
00059 union {
00060 int32_t real;
00061 uint32_t base;
00062 } u_model_id;
00063 u_model_id.base = 0;
00064 u_model_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00065 u_model_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00066 u_model_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00067 u_model_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00068 this->model_id = u_model_id.real;
00069 offset += sizeof(this->model_id);
00070 offset += this->type.deserialize(inbuffer + offset);
00071 offset += this->pose.deserialize(inbuffer + offset);
00072 union {
00073 float real;
00074 uint32_t base;
00075 } u_confidence;
00076 u_confidence.base = 0;
00077 u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00078 u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00079 u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00080 u_confidence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00081 this->confidence = u_confidence.real;
00082 offset += sizeof(this->confidence);
00083 uint32_t length_detector_name;
00084 memcpy(&length_detector_name, (inbuffer + offset), sizeof(uint32_t));
00085 offset += 4;
00086 for(unsigned int k= offset; k< offset+length_detector_name; ++k){
00087 inbuffer[k-1]=inbuffer[k];
00088 }
00089 inbuffer[offset+length_detector_name-1]=0;
00090 this->detector_name = (char *)(inbuffer + offset-1);
00091 offset += length_detector_name;
00092 return offset;
00093 }
00094
00095 const char * getType(){ return "household_objects_database_msgs/DatabaseModelPose"; };
00096 const char * getMD5(){ return "6bc39ef48ca57cc7d4341cfc13a5a110"; };
00097
00098 };
00099
00100 }
00101 #endif