Go to the documentation of this file.00001 #ifndef _ROS_shape_msgs_SolidPrimitive_h
00002 #define _ROS_shape_msgs_SolidPrimitive_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008
00009 namespace shape_msgs
00010 {
00011
00012 class SolidPrimitive : public ros::Msg
00013 {
00014 public:
00015 uint8_t type;
00016 uint8_t dimensions_length;
00017 float st_dimensions;
00018 float * dimensions;
00019 enum { BOX = 1 };
00020 enum { SPHERE = 2 };
00021 enum { CYLINDER = 3 };
00022 enum { CONE = 4 };
00023 enum { BOX_X = 0 };
00024 enum { BOX_Y = 1 };
00025 enum { BOX_Z = 2 };
00026 enum { SPHERE_RADIUS = 0 };
00027 enum { CYLINDER_HEIGHT = 0 };
00028 enum { CYLINDER_RADIUS = 1 };
00029 enum { CONE_HEIGHT = 0 };
00030 enum { CONE_RADIUS = 1 };
00031
00032 virtual int serialize(unsigned char *outbuffer) const
00033 {
00034 int offset = 0;
00035 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
00036 offset += sizeof(this->type);
00037 *(outbuffer + offset++) = dimensions_length;
00038 *(outbuffer + offset++) = 0;
00039 *(outbuffer + offset++) = 0;
00040 *(outbuffer + offset++) = 0;
00041 for( uint8_t i = 0; i < dimensions_length; i++){
00042 int32_t * val_dimensionsi = (int32_t *) &(this->dimensions[i]);
00043 int32_t exp_dimensionsi = (((*val_dimensionsi)>>23)&255);
00044 if(exp_dimensionsi != 0)
00045 exp_dimensionsi += 1023-127;
00046 int32_t sig_dimensionsi = *val_dimensionsi;
00047 *(outbuffer + offset++) = 0;
00048 *(outbuffer + offset++) = 0;
00049 *(outbuffer + offset++) = 0;
00050 *(outbuffer + offset++) = (sig_dimensionsi<<5) & 0xff;
00051 *(outbuffer + offset++) = (sig_dimensionsi>>3) & 0xff;
00052 *(outbuffer + offset++) = (sig_dimensionsi>>11) & 0xff;
00053 *(outbuffer + offset++) = ((exp_dimensionsi<<4) & 0xF0) | ((sig_dimensionsi>>19)&0x0F);
00054 *(outbuffer + offset++) = (exp_dimensionsi>>4) & 0x7F;
00055 if(this->dimensions[i] < 0) *(outbuffer + offset -1) |= 0x80;
00056 }
00057 return offset;
00058 }
00059
00060 virtual int deserialize(unsigned char *inbuffer)
00061 {
00062 int offset = 0;
00063 this->type = ((uint8_t) (*(inbuffer + offset)));
00064 offset += sizeof(this->type);
00065 uint8_t dimensions_lengthT = *(inbuffer + offset++);
00066 if(dimensions_lengthT > dimensions_length)
00067 this->dimensions = (float*)realloc(this->dimensions, dimensions_lengthT * sizeof(float));
00068 offset += 3;
00069 dimensions_length = dimensions_lengthT;
00070 for( uint8_t i = 0; i < dimensions_length; i++){
00071 uint32_t * val_st_dimensions = (uint32_t*) &(this->st_dimensions);
00072 offset += 3;
00073 *val_st_dimensions = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00074 *val_st_dimensions |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00075 *val_st_dimensions |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00076 *val_st_dimensions |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00077 uint32_t exp_st_dimensions = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00078 exp_st_dimensions |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00079 if(exp_st_dimensions !=0)
00080 *val_st_dimensions |= ((exp_st_dimensions)-1023+127)<<23;
00081 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_dimensions = -this->st_dimensions;
00082 memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(float));
00083 }
00084 return offset;
00085 }
00086
00087 const char * getType(){ return "shape_msgs/SolidPrimitive"; };
00088 const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
00089
00090 };
00091
00092 }
00093 #endif