PointCloud2.h

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#ifndef _ROS_sensor_msgs_PointCloud2_h
#define _ROS_sensor_msgs_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;
      uint32_t height;
      uint32_t width;
      uint8_t fields_length;
      sensor_msgs::PointField st_fields;
      sensor_msgs::PointField * fields;
      bool is_bigendian;
      uint32_t point_step;
      uint32_t row_step;
      uint8_t data_length;
      uint8_t st_data;
      uint8_t * data;
      bool is_dense;

    PointCloud2():
      header(),
      height(0),
      width(0),
      fields_length(0), fields(NULL),
      is_bigendian(0),
      point_step(0),
      row_step(0),
      data_length(0), data(NULL),
      is_dense(0)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      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);
      *(outbuffer + offset++) = fields_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < fields_length; i++){
      offset += this->fields[i].serialize(outbuffer + offset);
      }
      union {
        bool real;
        uint8_t 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);
      *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
      offset += sizeof(this->point_step);
      *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
      offset += sizeof(this->row_step);
      *(outbuffer + offset++) = data_length;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      *(outbuffer + offset++) = 0;
      for( uint8_t i = 0; i < data_length; i++){
      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
      offset += sizeof(this->data[i]);
      }
      union {
        bool real;
        uint8_t 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);
      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);
      uint8_t 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( uint8_t 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;
        uint8_t base;
      } u_is_bigendian;
      u_is_bigendian.base = 0;
      u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->is_bigendian = u_is_bigendian.real;
      offset += sizeof(this->is_bigendian);
      this->point_step =  ((uint32_t) (*(inbuffer + offset)));
      this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->point_step);
      this->row_step =  ((uint32_t) (*(inbuffer + offset)));
      this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
      this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
      this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
      offset += sizeof(this->row_step);
      uint8_t data_lengthT = *(inbuffer + offset++);
      if(data_lengthT > data_length)
        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
      offset += 3;
      data_length = data_lengthT;
      for( uint8_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));
      }
      union {
        bool real;
        uint8_t base;
      } u_is_dense;
      u_is_dense.base = 0;
      u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
      this->is_dense = u_is_dense.real;
      offset += sizeof(this->is_dense);
     return offset;
    }

    const char * getType(){ return "sensor_msgs/PointCloud2"; };
    const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };

  };

}
#endif