updat

ros_lib/ros_lib/sensor_msgs/CameraInfo.h

@@ -0,0 +1,168 @@
+#ifndef _ROS_sensor_msgs_CameraInfo_h
+#define _ROS_sensor_msgs_CameraInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+namespace sensor_msgs
+{
+
+  class CameraInfo : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef uint32_t _height_type;
+      _height_type height;
+      typedef uint32_t _width_type;
+      _width_type width;
+      typedef const char* _distortion_model_type;
+      _distortion_model_type distortion_model;
+      uint32_t D_length;
+      typedef float _D_type;
+      _D_type st_D;
+      _D_type * D;
+      float K[9];
+      float R[9];
+      float P[12];
+      typedef uint32_t _binning_x_type;
+      _binning_x_type binning_x;
+      typedef uint32_t _binning_y_type;
+      _binning_y_type binning_y;
+      typedef sensor_msgs::RegionOfInterest _roi_type;
+      _roi_type roi;
+
+    CameraInfo():
+      header(),
+      height(0),
+      width(0),
+      distortion_model(""),
+      D_length(0), st_D(), D(nullptr),
+      K(),
+      R(),
+      P(),
+      binning_x(0),
+      binning_y(0),
+      roi()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const override
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model = strlen(this->distortion_model);
+      varToArr(outbuffer + offset, length_distortion_model);
+      offset += 4;
+      memcpy(outbuffer + offset, this->distortion_model, length_distortion_model);
+      offset += length_distortion_model;
+      *(outbuffer + offset + 0) = (this->D_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->D_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->D_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->D_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->D_length);
+      for( uint32_t i = 0; i < D_length; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->D[i]);
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->K[i]);
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->R[i]);
+      }
+      for( uint32_t i = 0; i < 12; i++){
+      offset += serializeAvrFloat64(outbuffer + offset, this->P[i]);
+      }
+      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_x);
+      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_y);
+      offset += this->roi.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer) override
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model;
+      arrToVar(length_distortion_model, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_distortion_model; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_distortion_model-1]=0;
+      this->distortion_model = (char *)(inbuffer + offset-1);
+      offset += length_distortion_model;
+      uint32_t D_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      D_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->D_length);
+      if(D_lengthT > D_length)
+        this->D = (float*)realloc(this->D, D_lengthT * sizeof(float));
+      D_length = D_lengthT;
+      for( uint32_t i = 0; i < D_length; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_D));
+        memcpy( &(this->D[i]), &(this->st_D), sizeof(float));
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->K[i]));
+      }
+      for( uint32_t i = 0; i < 9; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->R[i]));
+      }
+      for( uint32_t i = 0; i < 12; i++){
+      offset += deserializeAvrFloat64(inbuffer + offset, &(this->P[i]));
+      }
+      this->binning_x =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_x);
+      this->binning_y =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_y);
+      offset += this->roi.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    virtual const char * getType() override { return "sensor_msgs/CameraInfo"; };
+    virtual const char * getMD5() override { return "c9a58c1b0b154e0e6da7578cb991d214"; };
+
+  };
+
+}
+#endif

ros_lib/ros_lib/sensor_msgs/ChannelFloat32.h

@@ -0,0 +1,99 @@
+#ifndef _ROS_sensor_msgs_ChannelFloat32_h
+#define _ROS_sensor_msgs_ChannelFloat32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class ChannelFloat32 : public ros::Msg
+  {
+    public:
+      typedef const char* _name_type;
+      _name_type name;
+      uint32_t values_length;
+      typedef float _values_type;
+      _values_type st_values;
+      _values_type * values;
+
+    ChannelFloat32():
+      name(""),
+      values_length(0), st_values(), values(nullptr)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const override
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      varToArr(outbuffer + offset, length_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values_length);
+      for( uint32_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_valuesi;
+      u_valuesi.real = this->values[i];
+      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer) override
+    {
+      int offset = 0;
+      uint32_t length_name;
+      arrToVar(length_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->values_length);
+      if(values_lengthT > values_length)
+        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
+      values_length = values_lengthT;
+      for( uint32_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_values;
+      u_st_values.base = 0;
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_values = u_st_values.real;
+      offset += sizeof(this->st_values);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
+      }
+     return offset;
+    }
+
+    virtual const char * getType() override { return "sensor_msgs/ChannelFloat32"; };
+    virtual const char * getMD5() override { return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
+
+  };
+
+}
+#endif

ros_lib/ros_lib/sensor_msgs/CompressedImage.h

@@ -0,0 +1,88 @@
+#ifndef _ROS_sensor_msgs_CompressedImage_h
+#define _ROS_sensor_msgs_CompressedImage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class CompressedImage : public ros::Msg
+  {
+    public:
+      typedef std_msgs::Header _header_type;
+      _header_type header;
+      typedef const char* _format_type;
+      _format_type format;
+      uint32_t data_length;
+      typedef uint8_t _data_type;
+      _data_type st_data;
+      _data_type * data;
+
+    CompressedImage():
+      header(),
+      format(""),
+      data_length(0), st_data(), data(nullptr)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const override
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_format = strlen(this->format);
+      varToArr(outbuffer + offset, length_format);
+      offset += 4;
+      memcpy(outbuffer + offset, this->format, length_format);
+      offset += length_format;
+      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_length);
+      for( uint32_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer) override
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_format;
+      arrToVar(length_format, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_format; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_format-1]=0;
+      this->format = (char *)(inbuffer + offset-1);
+      offset += length_format;
+      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
+      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
+      offset += sizeof(this->data_length);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      data_length = data_lengthT;
+      for( uint32_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    virtual const char * getType() override { return "sensor_msgs/CompressedImage"; };
+    virtual const char * getMD5() override { return "8f7a12909da2c9d3332d540a0977563f"; };
+
+  };
+
+}
+#endif