public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//map
if (map == null)
{
map = new Messages.nav_msgs.OccupancyGrid();
}
pieces.Add(map.Serialize(true));
//initial_pose
if (initial_pose == null)
{
initial_pose = new PoseWithCovarianceStamped();
}
pieces.Add(initial_pose.Serialize(true));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public RecognizedObject(Header header, ObjectType type, float confidence, PointCloud2[] point_clouds, Mesh bounding_mesh, Point[] bounding_contours, PoseWithCovarianceStamped pose)
{
this.header = header;
this.type = type;
this.confidence = confidence;
this.point_clouds = point_clouds;
this.bounding_mesh = bounding_mesh;
this.bounding_contours = bounding_contours;
this.pose = pose;
}
public RecognizedObject()
{
this.header = new Header();
this.type = new ObjectType();
this.confidence = 0.0f;
this.point_clouds = new PointCloud2[0];
this.bounding_mesh = new Mesh();
this.bounding_contours = new Point[0];
this.pose = new PoseWithCovarianceStamped();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//type
type = new Messages.object_recognition_msgs.ObjectType();
type.Randomize();
//confidence
confidence = (float)(rand.Next() + rand.NextDouble());
//point_clouds
arraylength = rand.Next(10);
if (point_clouds == null)
{
point_clouds = new Messages.sensor_msgs.PointCloud2[arraylength];
}
else
{
Array.Resize(ref point_clouds, arraylength);
}
for (int i = 0; i < point_clouds.Length; i++)
{
//point_clouds[i]
point_clouds[i] = new Messages.sensor_msgs.PointCloud2();
point_clouds[i].Randomize();
}
//bounding_mesh
bounding_mesh = new Messages.shape_msgs.Mesh();
bounding_mesh.Randomize();
//bounding_contours
arraylength = rand.Next(10);
if (bounding_contours == null)
{
bounding_contours = new Point[arraylength];
}
else
{
Array.Resize(ref bounding_contours, arraylength);
}
for (int i = 0; i < bounding_contours.Length; i++)
{
//bounding_contours[i]
bounding_contours[i] = new Point();
bounding_contours[i].Randomize();
}
//pose
pose = new PoseWithCovarianceStamped();
pose.Randomize();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//map
map = new Messages.nav_msgs.OccupancyGrid();
map.Randomize();
//initial_pose
initial_pose = new PoseWithCovarianceStamped();
initial_pose.Randomize();
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//map
map = new Messages.nav_msgs.OccupancyGrid(SERIALIZEDSTUFF, ref currentIndex);
//initial_pose
initial_pose = new PoseWithCovarianceStamped(SERIALIZEDSTUFF, ref currentIndex);
}
public SetMapRequest(OccupancyGrid map, PoseWithCovarianceStamped initial_pose)
{
this.map = map;
this.initial_pose = initial_pose;
}
public SetMapRequest()
{
this.map = new OccupancyGrid();
this.initial_pose = new PoseWithCovarianceStamped();
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//type
type = new Messages.object_recognition_msgs.ObjectType(SERIALIZEDSTUFF, ref currentIndex);
//confidence
piecesize = Marshal.SizeOf(typeof(Single));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
confidence = (Single)Marshal.PtrToStructure(h, typeof(Single));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
//point_clouds
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (point_clouds == null)
{
point_clouds = new Messages.sensor_msgs.PointCloud2[arraylength];
}
else
{
Array.Resize(ref point_clouds, arraylength);
}
for (int i = 0; i < point_clouds.Length; i++)
{
//point_clouds[i]
point_clouds[i] = new Messages.sensor_msgs.PointCloud2(SERIALIZEDSTUFF, ref currentIndex);
}
//bounding_mesh
bounding_mesh = new Messages.shape_msgs.Mesh(SERIALIZEDSTUFF, ref currentIndex);
//bounding_contours
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (bounding_contours == null)
{
bounding_contours = new Point[arraylength];
}
else
{
Array.Resize(ref bounding_contours, arraylength);
}
for (int i = 0; i < bounding_contours.Length; i++)
{
//bounding_contours[i]
bounding_contours[i] = new Point(SERIALIZEDSTUFF, ref currentIndex);
}
//pose
pose = new PoseWithCovarianceStamped(SERIALIZEDSTUFF, ref currentIndex);
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//type
if (type == null)
{
type = new Messages.object_recognition_msgs.ObjectType();
}
pieces.Add(type.Serialize(true));
//confidence
scratch1 = new byte[Marshal.SizeOf(typeof(Single))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(confidence, h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
//point_clouds
hasmetacomponents |= true;
if (point_clouds == null)
{
point_clouds = new Messages.sensor_msgs.PointCloud2[0];
}
pieces.Add(BitConverter.GetBytes(point_clouds.Length));
for (int i = 0; i < point_clouds.Length; i++)
{
//point_clouds[i]
if (point_clouds[i] == null)
{
point_clouds[i] = new Messages.sensor_msgs.PointCloud2();
}
pieces.Add(point_clouds[i].Serialize(true));
}
//bounding_mesh
if (bounding_mesh == null)
{
bounding_mesh = new Messages.shape_msgs.Mesh();
}
pieces.Add(bounding_mesh.Serialize(true));
//bounding_contours
hasmetacomponents |= true;
if (bounding_contours == null)
{
bounding_contours = new Point[0];
}
pieces.Add(BitConverter.GetBytes(bounding_contours.Length));
for (int i = 0; i < bounding_contours.Length; i++)
{
//bounding_contours[i]
if (bounding_contours[i] == null)
{
bounding_contours[i] = new Point();
}
pieces.Add(bounding_contours[i].Serialize(true));
}
//pose
if (pose == null)
{
pose = new PoseWithCovarianceStamped();
}
pieces.Add(pose.Serialize(true));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
