Fork of ROS Serial Library
Dependencies: BufferedSerial
tf/tfMessage.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_tf_tfMessage_h #define _ROS_tf_tfMessage_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/TransformStamped.h" namespace tf { class tfMessage : public ros::Msg { public: uint32_t transforms_length; typedef geometry_msgs::TransformStamped _transforms_type; _transforms_type st_transforms; _transforms_type * transforms; tfMessage(): transforms_length(0), transforms(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; offset += sizeof(this->transforms_length); for( uint32_t i = 0; i < transforms_length; i++){ offset += this->transforms[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->transforms_length); if(transforms_lengthT > transforms_length) this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); transforms_length = transforms_lengthT; for( uint32_t i = 0; i < transforms_length; i++){ offset += this->st_transforms.deserialize(inbuffer + offset); memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); } return offset; } const char * getType(){ return "tf/tfMessage"; }; const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; }; } #endif