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 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);
}
