public override void deserialize(MemoryStream stream, sensor_msgs.msg.PointCloud2 data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(sensor_msgs.msg.PointCloud2 data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public static void write(sensor_msgs.msg.PointCloud2 data, Halodi.CDR.CDRSerializer cdr)
{
std_msgs.msg.HeaderPubSubType.write(data.header, cdr);
cdr.write_type_4(data.height);
cdr.write_type_4(data.width);
if (data.fields == null)
{
cdr.write_type_2(0);
}
else
{
int fields_length = data.fields.Count;
cdr.write_type_2(fields_length);
for (int i0 = 0; i0 < fields_length; i0++)
{
sensor_msgs.msg.PointFieldPubSubType.write(data.fields[i0], cdr);
}
}
cdr.write_type_7(data.is_bigendian);
cdr.write_type_4(data.point_step);
cdr.write_type_4(data.row_step);
if (data.data == null)
{
cdr.write_type_2(0);
}
else
{
int data_length = data.data.Count;
cdr.write_type_2(data_length);
for (int i0 = 0; i0 < data_length; i0++)
{
cdr.write_type_9(data.data[i0]);
}
}
cdr.write_type_7(data.is_dense);
}
public static void read(sensor_msgs.msg.PointCloud2 data, Halodi.CDR.CDRDeserializer cdr)
{
data.header = std_msgs.msg.HeaderPubSubType.Create();
std_msgs.msg.HeaderPubSubType.read(data.header, cdr);
data.height = cdr.read_type_4();
data.width = cdr.read_type_4();
int fields_length = cdr.read_type_2();
data.fields = new System.Collections.Generic.List <sensor_msgs.msg.PointField>(fields_length);
for (int i = 0; i < fields_length; i++)
{
sensor_msgs.msg.PointField new_fields = sensor_msgs.msg.PointFieldPubSubType.Create();
sensor_msgs.msg.PointFieldPubSubType.read(new_fields, cdr);
data.fields.Add(new_fields);
}
data.is_bigendian = cdr.read_type_7();
data.point_step = cdr.read_type_4();
data.row_step = cdr.read_type_4();
int data_length = cdr.read_type_2();
data.data = new System.Collections.Generic.List <byte>(data_length);
for (int i = 0; i < data_length; i++)
{
data.data.Add(cdr.read_type_9());
}
data.is_dense = cdr.read_type_7();
}
public static int getCdrSerializedSize(sensor_msgs.msg.PointCloud2 data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += std_msgs.msg.HeaderPubSubType.getCdrSerializedSize(data.header, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.fields.Count; ++i0)
{
current_alignment += sensor_msgs.msg.PointFieldPubSubType.getCdrSerializedSize(data.fields[i0], current_alignment);
}
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.data.Count * 1) + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
return(current_alignment - initial_alignment);
}
public static int getCdrSerializedSize(sensor_msgs.msg.PointCloud2 data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(sensor_msgs.msg.PointCloud2 src, sensor_msgs.msg.PointCloud2 target)
{
target.Set(src);
}
