multi_array_layout.hpp

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namespace std_msgs::msg {
class MultiArrayLayout {
public:
    // This was originally provided as an example message.
    // It is deprecated as of Foxy
    // It is recommended to create your own semantically meaningful message.
    // However if you would like to continue using this please use the equivalent in example_msgs.
 
    // The multiarray declares a generic multi-dimensional array of a
    // particular data type.  Dimensions are ordered from outer most
    // to inner most.
    // 
    // Accessors should ALWAYS be written in terms of dimension stride
    // and specified outer-most dimension first.
    // 
    // multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
    // 
    // A standard, 3-channel 640x480 image with interleaved color channels
    // would be specified as:
    // 
    // dim[0].label  = "height"
    // dim[0].size   = 480
    // dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)
    // dim[1].label  = "width"
    // dim[1].size   = 640
    // dim[1].stride = 3*640 = 1920
    // dim[2].label  = "channel"
    // dim[2].size   = 3
    // dim[2].stride = 3
    // 
    // multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
 
    std::vector<msg::MultiArrayDimension> dim;  
    uint32_t data_offset;  
};
} // namespace std_msgs::msg