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Dependencies: BufferedSerial
Fork of ros_lib_indigo by
nav_msgs/Path.h@1:1523bf60b9a9, 2018-04-19 (annotated)
- Committer:
- MechanicalThomas
- Date:
- Thu Apr 19 14:57:05 2018 +0000
- Revision:
- 1:1523bf60b9a9
- Parent:
- 0:fd24f7ca9688
000;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:fd24f7ca9688 | 1 | #ifndef _ROS_nav_msgs_Path_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_nav_msgs_Path_h |
garyservin | 0:fd24f7ca9688 | 3 | |
garyservin | 0:fd24f7ca9688 | 4 | #include <stdint.h> |
garyservin | 0:fd24f7ca9688 | 5 | #include <string.h> |
garyservin | 0:fd24f7ca9688 | 6 | #include <stdlib.h> |
garyservin | 0:fd24f7ca9688 | 7 | #include "ros/msg.h" |
garyservin | 0:fd24f7ca9688 | 8 | #include "std_msgs/Header.h" |
garyservin | 0:fd24f7ca9688 | 9 | #include "geometry_msgs/PoseStamped.h" |
garyservin | 0:fd24f7ca9688 | 10 | |
garyservin | 0:fd24f7ca9688 | 11 | namespace nav_msgs |
garyservin | 0:fd24f7ca9688 | 12 | { |
garyservin | 0:fd24f7ca9688 | 13 | |
garyservin | 0:fd24f7ca9688 | 14 | class Path : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 15 | { |
garyservin | 0:fd24f7ca9688 | 16 | public: |
garyservin | 0:fd24f7ca9688 | 17 | std_msgs::Header header; |
garyservin | 0:fd24f7ca9688 | 18 | uint8_t poses_length; |
garyservin | 0:fd24f7ca9688 | 19 | geometry_msgs::PoseStamped st_poses; |
garyservin | 0:fd24f7ca9688 | 20 | geometry_msgs::PoseStamped * poses; |
garyservin | 0:fd24f7ca9688 | 21 | |
garyservin | 0:fd24f7ca9688 | 22 | Path(): |
garyservin | 0:fd24f7ca9688 | 23 | header(), |
garyservin | 0:fd24f7ca9688 | 24 | poses_length(0), poses(NULL) |
garyservin | 0:fd24f7ca9688 | 25 | { |
garyservin | 0:fd24f7ca9688 | 26 | } |
garyservin | 0:fd24f7ca9688 | 27 | |
garyservin | 0:fd24f7ca9688 | 28 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 29 | { |
garyservin | 0:fd24f7ca9688 | 30 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 31 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 32 | *(outbuffer + offset++) = poses_length; |
garyservin | 0:fd24f7ca9688 | 33 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 34 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 35 | *(outbuffer + offset++) = 0; |
garyservin | 0:fd24f7ca9688 | 36 | for( uint8_t i = 0; i < poses_length; i++){ |
garyservin | 0:fd24f7ca9688 | 37 | offset += this->poses[i].serialize(outbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 38 | } |
garyservin | 0:fd24f7ca9688 | 39 | return offset; |
garyservin | 0:fd24f7ca9688 | 40 | } |
garyservin | 0:fd24f7ca9688 | 41 | |
garyservin | 0:fd24f7ca9688 | 42 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 43 | { |
garyservin | 0:fd24f7ca9688 | 44 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 45 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 46 | uint8_t poses_lengthT = *(inbuffer + offset++); |
garyservin | 0:fd24f7ca9688 | 47 | if(poses_lengthT > poses_length) |
garyservin | 0:fd24f7ca9688 | 48 | this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped)); |
garyservin | 0:fd24f7ca9688 | 49 | offset += 3; |
garyservin | 0:fd24f7ca9688 | 50 | poses_length = poses_lengthT; |
garyservin | 0:fd24f7ca9688 | 51 | for( uint8_t i = 0; i < poses_length; i++){ |
garyservin | 0:fd24f7ca9688 | 52 | offset += this->st_poses.deserialize(inbuffer + offset); |
garyservin | 0:fd24f7ca9688 | 53 | memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped)); |
garyservin | 0:fd24f7ca9688 | 54 | } |
garyservin | 0:fd24f7ca9688 | 55 | return offset; |
garyservin | 0:fd24f7ca9688 | 56 | } |
garyservin | 0:fd24f7ca9688 | 57 | |
garyservin | 0:fd24f7ca9688 | 58 | const char * getType(){ return "nav_msgs/Path"; }; |
garyservin | 0:fd24f7ca9688 | 59 | const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; }; |
garyservin | 0:fd24f7ca9688 | 60 | |
garyservin | 0:fd24f7ca9688 | 61 | }; |
garyservin | 0:fd24f7ca9688 | 62 | |
garyservin | 0:fd24f7ca9688 | 63 | } |
garyservin | 0:fd24f7ca9688 | 64 | #endif |