/usr/share/common-lisp/ros/sensor_msgs/msg/PointCloud2.lisp is in cl-sensor-msgs 1.12.5-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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(cl:in-package sensor_msgs-msg)
;//! \htmlinclude PointCloud2.msg.html
(cl:defclass <PointCloud2> (roslisp-msg-protocol:ros-message)
((header
:reader header
:initarg :header
:type std_msgs-msg:Header
:initform (cl:make-instance 'std_msgs-msg:Header))
(height
:reader height
:initarg :height
:type cl:integer
:initform 0)
(width
:reader width
:initarg :width
:type cl:integer
:initform 0)
(fields
:reader fields
:initarg :fields
:type (cl:vector sensor_msgs-msg:PointField)
:initform (cl:make-array 0 :element-type 'sensor_msgs-msg:PointField :initial-element (cl:make-instance 'sensor_msgs-msg:PointField)))
(is_bigendian
:reader is_bigendian
:initarg :is_bigendian
:type cl:boolean
:initform cl:nil)
(point_step
:reader point_step
:initarg :point_step
:type cl:integer
:initform 0)
(row_step
:reader row_step
:initarg :row_step
:type cl:integer
:initform 0)
(data
:reader data
:initarg :data
:type (cl:vector cl:fixnum)
:initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0))
(is_dense
:reader is_dense
:initarg :is_dense
:type cl:boolean
:initform cl:nil))
)
(cl:defclass PointCloud2 (<PointCloud2>)
())
(cl:defmethod cl:initialize-instance :after ((m <PointCloud2>) cl:&rest args)
(cl:declare (cl:ignorable args))
(cl:unless (cl:typep m 'PointCloud2)
(roslisp-msg-protocol:msg-deprecation-warning "using old message class name sensor_msgs-msg:<PointCloud2> is deprecated: use sensor_msgs-msg:PointCloud2 instead.")))
(cl:ensure-generic-function 'header-val :lambda-list '(m))
(cl:defmethod header-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:header-val is deprecated. Use sensor_msgs-msg:header instead.")
(header m))
(cl:ensure-generic-function 'height-val :lambda-list '(m))
(cl:defmethod height-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:height-val is deprecated. Use sensor_msgs-msg:height instead.")
(height m))
(cl:ensure-generic-function 'width-val :lambda-list '(m))
(cl:defmethod width-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:width-val is deprecated. Use sensor_msgs-msg:width instead.")
(width m))
(cl:ensure-generic-function 'fields-val :lambda-list '(m))
(cl:defmethod fields-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:fields-val is deprecated. Use sensor_msgs-msg:fields instead.")
(fields m))
(cl:ensure-generic-function 'is_bigendian-val :lambda-list '(m))
(cl:defmethod is_bigendian-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:is_bigendian-val is deprecated. Use sensor_msgs-msg:is_bigendian instead.")
(is_bigendian m))
(cl:ensure-generic-function 'point_step-val :lambda-list '(m))
(cl:defmethod point_step-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:point_step-val is deprecated. Use sensor_msgs-msg:point_step instead.")
(point_step m))
(cl:ensure-generic-function 'row_step-val :lambda-list '(m))
(cl:defmethod row_step-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:row_step-val is deprecated. Use sensor_msgs-msg:row_step instead.")
(row_step m))
(cl:ensure-generic-function 'data-val :lambda-list '(m))
(cl:defmethod data-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:data-val is deprecated. Use sensor_msgs-msg:data instead.")
(data m))
(cl:ensure-generic-function 'is_dense-val :lambda-list '(m))
(cl:defmethod is_dense-val ((m <PointCloud2>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:is_dense-val is deprecated. Use sensor_msgs-msg:is_dense instead.")
(is_dense m))
(cl:defmethod roslisp-msg-protocol:serialize ((msg <PointCloud2>) ostream)
"Serializes a message object of type '<PointCloud2>"
(roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'height)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'width)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'width)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'width)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'width)) ostream)
(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'fields))))
(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
(cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
(cl:slot-value msg 'fields))
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_bigendian) 1 0)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'point_step)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'point_step)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'point_step)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'point_step)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'row_step)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'row_step)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'row_step)) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'row_step)) ostream)
(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'data))))
(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
(cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream))
(cl:slot-value msg 'data))
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'is_dense) 1 0)) ostream)
)
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <PointCloud2>) istream)
"Deserializes a message object of type '<PointCloud2>"
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'height)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'width)) (cl:read-byte istream))
(cl:let ((__ros_arr_len 0))
(cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'fields) (cl:make-array __ros_arr_len))
(cl:let ((vals (cl:slot-value msg 'fields)))
(cl:dotimes (i __ros_arr_len)
(cl:setf (cl:aref vals i) (cl:make-instance 'sensor_msgs-msg:PointField))
(roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
(cl:setf (cl:slot-value msg 'is_bigendian) (cl:not (cl:zerop (cl:read-byte istream))))
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'point_step)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'point_step)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'point_step)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'point_step)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'row_step)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'row_step)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'row_step)) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'row_step)) (cl:read-byte istream))
(cl:let ((__ros_arr_len 0))
(cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
(cl:setf (cl:slot-value msg 'data) (cl:make-array __ros_arr_len))
(cl:let ((vals (cl:slot-value msg 'data)))
(cl:dotimes (i __ros_arr_len)
(cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)))))
(cl:setf (cl:slot-value msg 'is_dense) (cl:not (cl:zerop (cl:read-byte istream))))
msg
)
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<PointCloud2>)))
"Returns string type for a message object of type '<PointCloud2>"
"sensor_msgs/PointCloud2")
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'PointCloud2)))
"Returns string type for a message object of type 'PointCloud2"
"sensor_msgs/PointCloud2")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<PointCloud2>)))
"Returns md5sum for a message object of type '<PointCloud2>"
"1158d486dd51d683ce2f1be655c3c181")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'PointCloud2)))
"Returns md5sum for a message object of type 'PointCloud2"
"1158d486dd51d683ce2f1be655c3c181")
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<PointCloud2>)))
"Returns full string definition for message of type '<PointCloud2>"
(cl:format cl:nil "# This message holds a collection of N-dimensional points, which may~%# contain additional information such as normals, intensity, etc. The~%# point data is stored as a binary blob, its layout described by the~%# contents of the \"fields\" array.~%~%# The point cloud data may be organized 2d (image-like) or 1d~%# (unordered). Point clouds organized as 2d images may be produced by~%# camera depth sensors such as stereo or time-of-flight.~%~%# Time of sensor data acquisition, and the coordinate frame ID (for 3d~%# points).~%Header header~%~%# 2D structure of the point cloud. If the cloud is unordered, height is~%# 1 and width is the length of the point cloud.~%uint32 height~%uint32 width~%~%# Describes the channels and their layout in the binary data blob.~%PointField[] fields~%~%bool is_bigendian # Is this data bigendian?~%uint32 point_step # Length of a point in bytes~%uint32 row_step # Length of a row in bytes~%uint8[] data # Actual point data, size is (row_step*height)~%~%bool is_dense # True if there are no invalid points~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: sensor_msgs/PointField~%# This message holds the description of one point entry in the~%# PointCloud2 message format.~%uint8 INT8 = 1~%uint8 UINT8 = 2~%uint8 INT16 = 3~%uint8 UINT16 = 4~%uint8 INT32 = 5~%uint8 UINT32 = 6~%uint8 FLOAT32 = 7~%uint8 FLOAT64 = 8~%~%string name # Name of field~%uint32 offset # Offset from start of point struct~%uint8 datatype # Datatype enumeration, see above~%uint32 count # How many elements in the field~%~%~%"))
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'PointCloud2)))
"Returns full string definition for message of type 'PointCloud2"
(cl:format cl:nil "# This message holds a collection of N-dimensional points, which may~%# contain additional information such as normals, intensity, etc. The~%# point data is stored as a binary blob, its layout described by the~%# contents of the \"fields\" array.~%~%# The point cloud data may be organized 2d (image-like) or 1d~%# (unordered). Point clouds organized as 2d images may be produced by~%# camera depth sensors such as stereo or time-of-flight.~%~%# Time of sensor data acquisition, and the coordinate frame ID (for 3d~%# points).~%Header header~%~%# 2D structure of the point cloud. If the cloud is unordered, height is~%# 1 and width is the length of the point cloud.~%uint32 height~%uint32 width~%~%# Describes the channels and their layout in the binary data blob.~%PointField[] fields~%~%bool is_bigendian # Is this data bigendian?~%uint32 point_step # Length of a point in bytes~%uint32 row_step # Length of a row in bytes~%uint8[] data # Actual point data, size is (row_step*height)~%~%bool is_dense # True if there are no invalid points~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%================================================================================~%MSG: sensor_msgs/PointField~%# This message holds the description of one point entry in the~%# PointCloud2 message format.~%uint8 INT8 = 1~%uint8 UINT8 = 2~%uint8 INT16 = 3~%uint8 UINT16 = 4~%uint8 INT32 = 5~%uint8 UINT32 = 6~%uint8 FLOAT32 = 7~%uint8 FLOAT64 = 8~%~%string name # Name of field~%uint32 offset # Offset from start of point struct~%uint8 datatype # Datatype enumeration, see above~%uint32 count # How many elements in the field~%~%~%"))
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <PointCloud2>))
(cl:+ 0
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
4
4
4 (cl:reduce #'cl:+ (cl:slot-value msg 'fields) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
1
4
4
4 (cl:reduce #'cl:+ (cl:slot-value msg 'data) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1)))
1
))
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <PointCloud2>))
"Converts a ROS message object to a list"
(cl:list 'PointCloud2
(cl:cons ':header (header msg))
(cl:cons ':height (height msg))
(cl:cons ':width (width msg))
(cl:cons ':fields (fields msg))
(cl:cons ':is_bigendian (is_bigendian msg))
(cl:cons ':point_step (point_step msg))
(cl:cons ':row_step (row_step msg))
(cl:cons ':data (data msg))
(cl:cons ':is_dense (is_dense msg))
))
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