Go to the documentation of this file.00001 #ifndef _ROS_visualization_msgs_Marker_h
00002 #define _ROS_visualization_msgs_Marker_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 "geometry_msgs/Pose.h"
00010 #include "geometry_msgs/Vector3.h"
00011 #include "std_msgs/ColorRGBA.h"
00012 #include "ros/duration.h"
00013 #include "geometry_msgs/Point.h"
00014
00015 namespace visualization_msgs
00016 {
00017
00018 class Marker : public ros::Msg
00019 {
00020 public:
00021 std_msgs::Header header;
00022 const char* ns;
00023 int32_t id;
00024 int32_t type;
00025 int32_t action;
00026 geometry_msgs::Pose pose;
00027 geometry_msgs::Vector3 scale;
00028 std_msgs::ColorRGBA color;
00029 ros::Duration lifetime;
00030 bool frame_locked;
00031 uint8_t points_length;
00032 geometry_msgs::Point st_points;
00033 geometry_msgs::Point * points;
00034 uint8_t colors_length;
00035 std_msgs::ColorRGBA st_colors;
00036 std_msgs::ColorRGBA * colors;
00037 const char* text;
00038 const char* mesh_resource;
00039 bool mesh_use_embedded_materials;
00040 enum { ARROW = 0 };
00041 enum { CUBE = 1 };
00042 enum { SPHERE = 2 };
00043 enum { CYLINDER = 3 };
00044 enum { LINE_STRIP = 4 };
00045 enum { LINE_LIST = 5 };
00046 enum { CUBE_LIST = 6 };
00047 enum { SPHERE_LIST = 7 };
00048 enum { POINTS = 8 };
00049 enum { TEXT_VIEW_FACING = 9 };
00050 enum { MESH_RESOURCE = 10 };
00051 enum { TRIANGLE_LIST = 11 };
00052 enum { ADD = 0 };
00053 enum { MODIFY = 0 };
00054 enum { DELETE = 2 };
00055
00056 virtual int serialize(unsigned char *outbuffer) const
00057 {
00058 int offset = 0;
00059 offset += this->header.serialize(outbuffer + offset);
00060 uint32_t length_ns = strlen(this->ns);
00061 memcpy(outbuffer + offset, &length_ns, sizeof(uint32_t));
00062 offset += 4;
00063 memcpy(outbuffer + offset, this->ns, length_ns);
00064 offset += length_ns;
00065 union {
00066 int32_t real;
00067 uint32_t base;
00068 } u_id;
00069 u_id.real = this->id;
00070 *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
00071 *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
00072 *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
00073 *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
00074 offset += sizeof(this->id);
00075 union {
00076 int32_t real;
00077 uint32_t base;
00078 } u_type;
00079 u_type.real = this->type;
00080 *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
00081 *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
00082 *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
00083 *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
00084 offset += sizeof(this->type);
00085 union {
00086 int32_t real;
00087 uint32_t base;
00088 } u_action;
00089 u_action.real = this->action;
00090 *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
00091 *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
00092 *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
00093 *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
00094 offset += sizeof(this->action);
00095 offset += this->pose.serialize(outbuffer + offset);
00096 offset += this->scale.serialize(outbuffer + offset);
00097 offset += this->color.serialize(outbuffer + offset);
00098 *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
00099 *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
00100 *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
00101 *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
00102 offset += sizeof(this->lifetime.sec);
00103 *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
00104 *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
00105 *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
00106 *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
00107 offset += sizeof(this->lifetime.nsec);
00108 union {
00109 bool real;
00110 uint8_t base;
00111 } u_frame_locked;
00112 u_frame_locked.real = this->frame_locked;
00113 *(outbuffer + offset + 0) = (u_frame_locked.base >> (8 * 0)) & 0xFF;
00114 offset += sizeof(this->frame_locked);
00115 *(outbuffer + offset++) = points_length;
00116 *(outbuffer + offset++) = 0;
00117 *(outbuffer + offset++) = 0;
00118 *(outbuffer + offset++) = 0;
00119 for( uint8_t i = 0; i < points_length; i++){
00120 offset += this->points[i].serialize(outbuffer + offset);
00121 }
00122 *(outbuffer + offset++) = colors_length;
00123 *(outbuffer + offset++) = 0;
00124 *(outbuffer + offset++) = 0;
00125 *(outbuffer + offset++) = 0;
00126 for( uint8_t i = 0; i < colors_length; i++){
00127 offset += this->colors[i].serialize(outbuffer + offset);
00128 }
00129 uint32_t length_text = strlen(this->text);
00130 memcpy(outbuffer + offset, &length_text, sizeof(uint32_t));
00131 offset += 4;
00132 memcpy(outbuffer + offset, this->text, length_text);
00133 offset += length_text;
00134 uint32_t length_mesh_resource = strlen(this->mesh_resource);
00135 memcpy(outbuffer + offset, &length_mesh_resource, sizeof(uint32_t));
00136 offset += 4;
00137 memcpy(outbuffer + offset, this->mesh_resource, length_mesh_resource);
00138 offset += length_mesh_resource;
00139 union {
00140 bool real;
00141 uint8_t base;
00142 } u_mesh_use_embedded_materials;
00143 u_mesh_use_embedded_materials.real = this->mesh_use_embedded_materials;
00144 *(outbuffer + offset + 0) = (u_mesh_use_embedded_materials.base >> (8 * 0)) & 0xFF;
00145 offset += sizeof(this->mesh_use_embedded_materials);
00146 return offset;
00147 }
00148
00149 virtual int deserialize(unsigned char *inbuffer)
00150 {
00151 int offset = 0;
00152 offset += this->header.deserialize(inbuffer + offset);
00153 uint32_t length_ns;
00154 memcpy(&length_ns, (inbuffer + offset), sizeof(uint32_t));
00155 offset += 4;
00156 for(unsigned int k= offset; k< offset+length_ns; ++k){
00157 inbuffer[k-1]=inbuffer[k];
00158 }
00159 inbuffer[offset+length_ns-1]=0;
00160 this->ns = (char *)(inbuffer + offset-1);
00161 offset += length_ns;
00162 union {
00163 int32_t real;
00164 uint32_t base;
00165 } u_id;
00166 u_id.base = 0;
00167 u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00168 u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00169 u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00170 u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00171 this->id = u_id.real;
00172 offset += sizeof(this->id);
00173 union {
00174 int32_t real;
00175 uint32_t base;
00176 } u_type;
00177 u_type.base = 0;
00178 u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00179 u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00180 u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00181 u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00182 this->type = u_type.real;
00183 offset += sizeof(this->type);
00184 union {
00185 int32_t real;
00186 uint32_t base;
00187 } u_action;
00188 u_action.base = 0;
00189 u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00190 u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00191 u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00192 u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00193 this->action = u_action.real;
00194 offset += sizeof(this->action);
00195 offset += this->pose.deserialize(inbuffer + offset);
00196 offset += this->scale.deserialize(inbuffer + offset);
00197 offset += this->color.deserialize(inbuffer + offset);
00198 this->lifetime.sec = ((uint32_t) (*(inbuffer + offset)));
00199 this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00200 this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00201 this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00202 offset += sizeof(this->lifetime.sec);
00203 this->lifetime.nsec = ((uint32_t) (*(inbuffer + offset)));
00204 this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00205 this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00206 this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00207 offset += sizeof(this->lifetime.nsec);
00208 union {
00209 bool real;
00210 uint8_t base;
00211 } u_frame_locked;
00212 u_frame_locked.base = 0;
00213 u_frame_locked.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00214 this->frame_locked = u_frame_locked.real;
00215 offset += sizeof(this->frame_locked);
00216 uint8_t points_lengthT = *(inbuffer + offset++);
00217 if(points_lengthT > points_length)
00218 this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
00219 offset += 3;
00220 points_length = points_lengthT;
00221 for( uint8_t i = 0; i < points_length; i++){
00222 offset += this->st_points.deserialize(inbuffer + offset);
00223 memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
00224 }
00225 uint8_t colors_lengthT = *(inbuffer + offset++);
00226 if(colors_lengthT > colors_length)
00227 this->colors = (std_msgs::ColorRGBA*)realloc(this->colors, colors_lengthT * sizeof(std_msgs::ColorRGBA));
00228 offset += 3;
00229 colors_length = colors_lengthT;
00230 for( uint8_t i = 0; i < colors_length; i++){
00231 offset += this->st_colors.deserialize(inbuffer + offset);
00232 memcpy( &(this->colors[i]), &(this->st_colors), sizeof(std_msgs::ColorRGBA));
00233 }
00234 uint32_t length_text;
00235 memcpy(&length_text, (inbuffer + offset), sizeof(uint32_t));
00236 offset += 4;
00237 for(unsigned int k= offset; k< offset+length_text; ++k){
00238 inbuffer[k-1]=inbuffer[k];
00239 }
00240 inbuffer[offset+length_text-1]=0;
00241 this->text = (char *)(inbuffer + offset-1);
00242 offset += length_text;
00243 uint32_t length_mesh_resource;
00244 memcpy(&length_mesh_resource, (inbuffer + offset), sizeof(uint32_t));
00245 offset += 4;
00246 for(unsigned int k= offset; k< offset+length_mesh_resource; ++k){
00247 inbuffer[k-1]=inbuffer[k];
00248 }
00249 inbuffer[offset+length_mesh_resource-1]=0;
00250 this->mesh_resource = (char *)(inbuffer + offset-1);
00251 offset += length_mesh_resource;
00252 union {
00253 bool real;
00254 uint8_t base;
00255 } u_mesh_use_embedded_materials;
00256 u_mesh_use_embedded_materials.base = 0;
00257 u_mesh_use_embedded_materials.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00258 this->mesh_use_embedded_materials = u_mesh_use_embedded_materials.real;
00259 offset += sizeof(this->mesh_use_embedded_materials);
00260 return offset;
00261 }
00262
00263 const char * getType(){ return "visualization_msgs/Marker"; };
00264 const char * getMD5(){ return "18326976df9d29249efc939e00342cde"; };
00265
00266 };
00267
00268 }
00269 #endif