Quadrotor

#ifndef _ROS_sensor_msgs_PointCloud_h

#define _ROS_sensor_msgs_PointCloud_h

#include <stdint.h>

#include <string.h>

#include <stdlib.h>

#include "ros/msg.h"

#include "std_msgs/Header.h"

#include "geometry_msgs/Point32.h"

#include "sensor_msgs/ChannelFloat32.h"

namespace sensor_msgs

{

  class PointCloud : public ros::Msg

  {

    public:

      std_msgs::Header header;

      uint8_t points_length;

      geometry_msgs::Point32 st_points;

      geometry_msgs::Point32 * points;

      uint8_t channels_length;

      sensor_msgs::ChannelFloat32 st_channels;

      sensor_msgs::ChannelFloat32 * channels;

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      offset += this->header.serialize(outbuffer + offset);

      *(outbuffer + offset++) = points_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      for( uint8_t i = 0; i < points_length; i++){

      offset += this->points[i].serialize(outbuffer + offset);

      }

      *(outbuffer + offset++) = channels_length;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      for( uint8_t i = 0; i < channels_length; i++){

      offset += this->channels[i].serialize(outbuffer + offset);

      }

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      offset += this->header.deserialize(inbuffer + offset);

      uint8_t points_lengthT = *(inbuffer + offset++);

      if(points_lengthT > points_length)

        this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));

      offset += 3;

      points_length = points_lengthT;

      for( uint8_t i = 0; i < points_length; i++){

      offset += this->st_points.deserialize(inbuffer + offset);

        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));

      }

      uint8_t channels_lengthT = *(inbuffer + offset++);

      if(channels_lengthT > channels_length)

        this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));

      offset += 3;

      channels_length = channels_lengthT;

      for( uint8_t i = 0; i < channels_length; i++){

      offset += this->st_channels.deserialize(inbuffer + offset);

        memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));

      }

     return offset;

    }

    const char * getType(){ return "sensor_msgs/PointCloud"; };

    const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };

  };

}

#endif