Soft robot team / ros_lib_melodic

ros melodic library with custom message

Dependents:   Robot_team1_QEI_Douglas Robot_team1

ros_lib/tf/tfMessage.h@0:020db18a476d, 2019-10-30 (annotated)

Committer:
scarter1
Date:
Wed Oct 30 14:59:49 2019 +0000
Revision:
0:020db18a476d
melodic library;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1 #ifndef _ROS_tf_tfMessage_h
scarter1 0:020db18a476d 2 #define _ROS_tf_tfMessage_h
scarter1 0:020db18a476d 3
scarter1 0:020db18a476d 4 #include <stdint.h>
scarter1 0:020db18a476d 5 #include <string.h>
scarter1 0:020db18a476d 6 #include <stdlib.h>
scarter1 0:020db18a476d 7 #include "ros/msg.h"
scarter1 0:020db18a476d 8 #include "geometry_msgs/TransformStamped.h"
scarter1 0:020db18a476d 9
scarter1 0:020db18a476d 10 namespace tf
scarter1 0:020db18a476d 11 {
scarter1 0:020db18a476d 12
scarter1 0:020db18a476d 13 class tfMessage : public ros::Msg
scarter1 0:020db18a476d 14 {
scarter1 0:020db18a476d 15 public:
scarter1 0:020db18a476d 16 uint32_t transforms_length;
scarter1 0:020db18a476d 17 typedef geometry_msgs::TransformStamped _transforms_type;
scarter1 0:020db18a476d 18 _transforms_type st_transforms;
scarter1 0:020db18a476d 19 _transforms_type * transforms;
scarter1 0:020db18a476d 20
scarter1 0:020db18a476d 21 tfMessage():
scarter1 0:020db18a476d 22 transforms_length(0), transforms(NULL)
scarter1 0:020db18a476d 23 {
scarter1 0:020db18a476d 24 }
scarter1 0:020db18a476d 25
scarter1 0:020db18a476d 26 virtual int serialize(unsigned char *outbuffer) const
scarter1 0:020db18a476d 27 {
scarter1 0:020db18a476d 28 int offset = 0;
scarter1 0:020db18a476d 29 *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
scarter1 0:020db18a476d 30 *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
scarter1 0:020db18a476d 31 *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
scarter1 0:020db18a476d 32 *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
scarter1 0:020db18a476d 33 offset += sizeof(this->transforms_length);
scarter1 0:020db18a476d 34 for( uint32_t i = 0; i < transforms_length; i++){
scarter1 0:020db18a476d 35 offset += this->transforms[i].serialize(outbuffer + offset);
scarter1 0:020db18a476d 36 }
scarter1 0:020db18a476d 37 return offset;
scarter1 0:020db18a476d 38 }
scarter1 0:020db18a476d 39
scarter1 0:020db18a476d 40 virtual int deserialize(unsigned char *inbuffer)
scarter1 0:020db18a476d 41 {
scarter1 0:020db18a476d 42 int offset = 0;
scarter1 0:020db18a476d 43 uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset)));
scarter1 0:020db18a476d 44 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
scarter1 0:020db18a476d 45 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
scarter1 0:020db18a476d 46 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
scarter1 0:020db18a476d 47 offset += sizeof(this->transforms_length);
scarter1 0:020db18a476d 48 if(transforms_lengthT > transforms_length)
scarter1 0:020db18a476d 49 this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
scarter1 0:020db18a476d 50 transforms_length = transforms_lengthT;
scarter1 0:020db18a476d 51 for( uint32_t i = 0; i < transforms_length; i++){
scarter1 0:020db18a476d 52 offset += this->st_transforms.deserialize(inbuffer + offset);
scarter1 0:020db18a476d 53 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
scarter1 0:020db18a476d 54 }
scarter1 0:020db18a476d 55 return offset;
scarter1 0:020db18a476d 56 }
scarter1 0:020db18a476d 57
scarter1 0:020db18a476d 58 const char * getType(){ return "tf/tfMessage"; };
scarter1 0:020db18a476d 59 const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
scarter1 0:020db18a476d 60
scarter1 0:020db18a476d 61 };
scarter1 0:020db18a476d 62
scarter1 0:020db18a476d 63 }
scarter1 0:020db18a476d 64 #endif