762 lines
31 KiB
C++
762 lines
31 KiB
C++
/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: PointCloud2_.idl
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Source: PointCloud2_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_POINTCLOUD2__HPP
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#define DDSCXX_POINTCLOUD2__HPP
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#include "PointField_.hpp"
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#include "Header_.hpp"
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#include <cstdint>
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#include <vector>
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namespace sensor_msgs
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{
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namespace msg
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{
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namespace dds_
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{
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class PointCloud2_
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{
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private:
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::std_msgs::msg::dds_::Header_ header_;
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uint32_t height_ = 0;
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uint32_t width_ = 0;
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std::vector<::sensor_msgs::msg::dds_::PointField_> fields_;
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bool is_bigendian_ = false;
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uint32_t point_step_ = 0;
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uint32_t row_step_ = 0;
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std::vector<uint8_t> data_;
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bool is_dense_ = false;
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public:
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PointCloud2_() = default;
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explicit PointCloud2_(
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const ::std_msgs::msg::dds_::Header_& header,
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uint32_t height,
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uint32_t width,
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const std::vector<::sensor_msgs::msg::dds_::PointField_>& fields,
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bool is_bigendian,
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uint32_t point_step,
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uint32_t row_step,
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const std::vector<uint8_t>& data,
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bool is_dense) :
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header_(header),
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height_(height),
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width_(width),
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fields_(fields),
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is_bigendian_(is_bigendian),
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point_step_(point_step),
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row_step_(row_step),
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data_(data),
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is_dense_(is_dense) { }
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const ::std_msgs::msg::dds_::Header_& header() const { return this->header_; }
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::std_msgs::msg::dds_::Header_& header() { return this->header_; }
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void header(const ::std_msgs::msg::dds_::Header_& _val_) { this->header_ = _val_; }
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void header(::std_msgs::msg::dds_::Header_&& _val_) { this->header_ = _val_; }
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uint32_t height() const { return this->height_; }
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uint32_t& height() { return this->height_; }
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void height(uint32_t _val_) { this->height_ = _val_; }
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uint32_t width() const { return this->width_; }
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uint32_t& width() { return this->width_; }
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void width(uint32_t _val_) { this->width_ = _val_; }
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const std::vector<::sensor_msgs::msg::dds_::PointField_>& fields() const { return this->fields_; }
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std::vector<::sensor_msgs::msg::dds_::PointField_>& fields() { return this->fields_; }
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void fields(const std::vector<::sensor_msgs::msg::dds_::PointField_>& _val_) { this->fields_ = _val_; }
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void fields(std::vector<::sensor_msgs::msg::dds_::PointField_>&& _val_) { this->fields_ = _val_; }
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bool is_bigendian() const { return this->is_bigendian_; }
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bool& is_bigendian() { return this->is_bigendian_; }
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void is_bigendian(bool _val_) { this->is_bigendian_ = _val_; }
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uint32_t point_step() const { return this->point_step_; }
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uint32_t& point_step() { return this->point_step_; }
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void point_step(uint32_t _val_) { this->point_step_ = _val_; }
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uint32_t row_step() const { return this->row_step_; }
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uint32_t& row_step() { return this->row_step_; }
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void row_step(uint32_t _val_) { this->row_step_ = _val_; }
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const std::vector<uint8_t>& data() const { return this->data_; }
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std::vector<uint8_t>& data() { return this->data_; }
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void data(const std::vector<uint8_t>& _val_) { this->data_ = _val_; }
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void data(std::vector<uint8_t>&& _val_) { this->data_ = _val_; }
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bool is_dense() const { return this->is_dense_; }
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bool& is_dense() { return this->is_dense_; }
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void is_dense(bool _val_) { this->is_dense_ = _val_; }
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bool operator==(const PointCloud2_& _other) const
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{
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(void) _other;
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return header_ == _other.header_ &&
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height_ == _other.height_ &&
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width_ == _other.width_ &&
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fields_ == _other.fields_ &&
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is_bigendian_ == _other.is_bigendian_ &&
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point_step_ == _other.point_step_ &&
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row_step_ == _other.row_step_ &&
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data_ == _other.data_ &&
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is_dense_ == _other.is_dense_;
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}
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bool operator!=(const PointCloud2_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::getTypeName()
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{
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return "sensor_msgs::msg::dds_::PointCloud2_";
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}
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template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::isSelfContained()
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{
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return false;
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}
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template <> constexpr bool TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::type_map_blob_sz() { return 1472; }
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template<> constexpr unsigned int TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::type_info_blob_sz() { return 244; }
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template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::type_map_blob() {
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static const uint8_t blob[] = {
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|
0x2c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x73, 0x65, 0x6e, 0x73,
|
|
0x6f, 0x72, 0x5f, 0x6d, 0x73, 0x67, 0x73, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64,
|
|
0x73, 0x5f, 0x3a, 0x3a, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x46, 0x69, 0x65, 0x6c, 0x64, 0x5f, 0x00,
|
|
0x6c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
|
|
0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6e, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00,
|
|
0x15, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x07, 0x00, 0x00, 0x00,
|
|
0x6f, 0x66, 0x66, 0x73, 0x65, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00,
|
|
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x09, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61,
|
|
0x74, 0x79, 0x70, 0x65, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
|
|
0x01, 0x00, 0x07, 0x00, 0x06, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x75, 0x6e, 0x74, 0x00, 0x00, 0x00,
|
|
0x7c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xf2, 0xf6, 0xf1, 0xa7, 0xb4, 0x13, 0x2f, 0x17,
|
|
0xb4, 0xae, 0x1d, 0x73, 0x77, 0xc5, 0xbc, 0xf1, 0x7f, 0x62, 0xa4, 0x8e, 0xfc, 0x63, 0xa8, 0xa6,
|
|
0xfe, 0x5f, 0x9e, 0xda, 0x06, 0xd7, 0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed,
|
|
0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71, 0x2c, 0xb7, 0xb1,
|
|
0xe5, 0x1f, 0xa3, 0xf2, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d, 0xfe, 0x21, 0x57, 0xf3,
|
|
0xe6, 0x32, 0x0d, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46,
|
|
0xf9, 0x8d, 0xf2, 0xa3, 0xab, 0xc2, 0x35, 0xd1, 0x3d, 0xdb, 0xab, 0x7a, 0x36, 0x56, 0x16, 0xf1,
|
|
0x08, 0xf1, 0x82, 0x17, 0x10, 0x85, 0xb3, 0xf2, 0x74, 0x2b, 0xa8, 0x4e, 0xb5, 0xeb, 0x0e, 0x0b,
|
|
};
|
|
return blob;
|
|
}
|
|
template<> inline const uint8_t * TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::type_info_blob() {
|
|
static const uint8_t blob[] = {
|
|
0xf0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00,
|
|
0x14, 0x00, 0x00, 0x00, 0xf1, 0x7f, 0x62, 0xa4, 0x8e, 0xfc, 0x63, 0xa8, 0xa6, 0xfe, 0x5f, 0x9e,
|
|
0xda, 0x06, 0xd7, 0x00, 0xcf, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
|
|
0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xdc, 0xf1, 0x2c, 0xd2, 0xdd, 0x5e, 0x71,
|
|
0x2c, 0xb7, 0xb1, 0xe5, 0x1f, 0xa3, 0xf2, 0x00, 0x48, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
|
0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00,
|
|
0x37, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x17, 0x10, 0x85, 0xb3, 0xf2, 0x74,
|
|
0x2b, 0xa8, 0x4e, 0xb5, 0xeb, 0x0e, 0x0b, 0x00, 0x57, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
|
|
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xf6, 0xf1, 0xa7,
|
|
0xb4, 0x13, 0x2f, 0x17, 0xb4, 0xae, 0x1d, 0x73, 0x77, 0xc5, 0xbc, 0x00, 0x67, 0x01, 0x00, 0x00,
|
|
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
|
0xf2, 0xe5, 0x76, 0x5e, 0xc4, 0x8c, 0xff, 0xd4, 0x19, 0xed, 0x7f, 0xe8, 0x4e, 0x2a, 0x55, 0x00,
|
|
0x7f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xd4, 0x85, 0x4f, 0x13, 0xae, 0xf3, 0x2d,
|
|
0xfe, 0x21, 0x57, 0xf3, 0xe6, 0x32, 0x0d, 0x00, 0x76, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
|
|
0xf2, 0xa3, 0xab, 0xc2, 0x35, 0xd1, 0x3d, 0xdb, 0xab, 0x7a, 0x36, 0x56, 0x16, 0xf1, 0x08, 0x00,
|
|
0xa8, 0x00, 0x00, 0x00, };
|
|
return blob;
|
|
}
|
|
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
|
|
|
} //namespace topic
|
|
} //namespace cyclonedds
|
|
} //namespace eclipse
|
|
} //namespace org
|
|
|
|
namespace dds {
|
|
namespace topic {
|
|
|
|
template <>
|
|
struct topic_type_name<::sensor_msgs::msg::dds_::PointCloud2_>
|
|
{
|
|
static std::string value()
|
|
{
|
|
return org::eclipse::cyclonedds::topic::TopicTraits<::sensor_msgs::msg::dds_::PointCloud2_>::getTypeName();
|
|
}
|
|
};
|
|
|
|
}
|
|
}
|
|
|
|
REGISTER_TOPIC_TYPE(::sensor_msgs::msg::dds_::PointCloud2_)
|
|
|
|
namespace org{
|
|
namespace eclipse{
|
|
namespace cyclonedds{
|
|
namespace core{
|
|
namespace cdr{
|
|
|
|
template<>
|
|
propvec &get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>();
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool write(T& streamer, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.header(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.width()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, false))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = uint32_t(instance.fields().size());
|
|
if (!write(streamer, se_1))
|
|
return false;
|
|
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
|
if (!write(streamer, instance.fields()[i_1], prop))
|
|
return false;
|
|
} //i_1
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.is_bigendian()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.point_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.row_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, true))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = uint32_t(instance.data().size());
|
|
if (!write(streamer, se_1))
|
|
return false;
|
|
if (se_1 > 0 &&
|
|
!write(streamer, instance.data()[0], se_1))
|
|
return false;
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!write(streamer, instance.is_dense()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool write(S& str, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) {
|
|
auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>();
|
|
str.set_mode(cdr_stream::stream_mode::write, as_key);
|
|
return write(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool read(T& streamer, ::sensor_msgs::msg::dds_::PointCloud2_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.header(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.width()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, false))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = uint32_t(instance.fields().size());
|
|
if (!read(streamer, se_1))
|
|
return false;
|
|
instance.fields().resize(se_1);
|
|
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
|
if (!read(streamer, instance.fields()[i_1], prop))
|
|
return false;
|
|
} //i_1
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.is_bigendian()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.point_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.row_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, true))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = uint32_t(instance.data().size());
|
|
if (!read(streamer, se_1))
|
|
return false;
|
|
instance.data().resize(se_1);
|
|
if (se_1 > 0 &&
|
|
!read(streamer, instance.data()[0], se_1))
|
|
return false;
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!read(streamer, instance.is_dense()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool read(S& str, ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) {
|
|
auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>();
|
|
str.set_mode(cdr_stream::stream_mode::read, as_key);
|
|
return read(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool move(T& streamer, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.header(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.width()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, false))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = uint32_t(instance.fields().size());
|
|
if (!move(streamer, se_1))
|
|
return false;
|
|
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
|
if (!move(streamer, instance.fields()[i_1], prop))
|
|
return false;
|
|
} //i_1
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.is_bigendian()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.point_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.row_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, true))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = uint32_t(instance.data().size());
|
|
if (!move(streamer, se_1))
|
|
return false;
|
|
if (se_1 > 0 &&
|
|
!move(streamer, uint8_t(), se_1))
|
|
return false;
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.is_dense()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool move(S& str, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) {
|
|
auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>();
|
|
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
|
return move(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool max(T& streamer, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.header(), prop))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.height()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.width()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, false))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = 0;
|
|
if (!max(streamer, se_1))
|
|
return false;
|
|
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
|
|
if (!max(streamer, instance.fields()[i_1], prop))
|
|
return false;
|
|
} //i_1
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
streamer.position(SIZE_MAX);
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.is_bigendian()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 5:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.point_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 6:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.row_step()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 7:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(false, true))
|
|
return false;
|
|
{
|
|
uint32_t se_1 = 0;
|
|
if (!max(streamer, se_1))
|
|
return false;
|
|
if (se_1 > 0 &&
|
|
!max(streamer, uint8_t(), se_1))
|
|
return false;
|
|
} //end sequence 1
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
streamer.position(SIZE_MAX);
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 8:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.is_dense()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool max(S& str, const ::sensor_msgs::msg::dds_::PointCloud2_& instance, bool as_key) {
|
|
auto &props = get_type_props<::sensor_msgs::msg::dds_::PointCloud2_>();
|
|
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
|
return max(str, instance, props.data());
|
|
}
|
|
|
|
} //namespace cdr
|
|
} //namespace core
|
|
} //namespace cyclonedds
|
|
} //namespace eclipse
|
|
} //namespace org
|
|
|
|
#endif // DDSCXX_POINTCLOUD2__HPP
|