Path.h

00001 #ifndef _ROS_nav_msgs_Path_h
00002 #define _ROS_nav_msgs_Path_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/PoseStamped.h"
00010 
00011 namespace nav_msgs
00012 {
00013 
00014   class Path : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       uint32_t poses_length;
00020       typedef geometry_msgs::PoseStamped _poses_type;
00021       _poses_type st_poses;
00022       _poses_type * poses;
00023 
00024     Path():
00025       header(),
00026       poses_length(0), poses(NULL)
00027     {
00028     }
00029 
00030     virtual int serialize(unsigned char *outbuffer) const
00031     {
00032       int offset = 0;
00033       offset += this->header.serialize(outbuffer + offset);
00034       *(outbuffer + offset + 0) = (this->poses_length >> (8 * 0)) & 0xFF;
00035       *(outbuffer + offset + 1) = (this->poses_length >> (8 * 1)) & 0xFF;
00036       *(outbuffer + offset + 2) = (this->poses_length >> (8 * 2)) & 0xFF;
00037       *(outbuffer + offset + 3) = (this->poses_length >> (8 * 3)) & 0xFF;
00038       offset += sizeof(this->poses_length);
00039       for( uint32_t i = 0; i < poses_length; i++){
00040       offset += this->poses[i].serialize(outbuffer + offset);
00041       }
00042       return offset;
00043     }
00044 
00045     virtual int deserialize(unsigned char *inbuffer)
00046     {
00047       int offset = 0;
00048       offset += this->header.deserialize(inbuffer + offset);
00049       uint32_t poses_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00050       poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00051       poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00052       poses_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00053       offset += sizeof(this->poses_length);
00054       if(poses_lengthT > poses_length)
00055         this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped));
00056       poses_length = poses_lengthT;
00057       for( uint32_t i = 0; i < poses_length; i++){
00058       offset += this->st_poses.deserialize(inbuffer + offset);
00059         memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped));
00060       }
00061      return offset;
00062     }
00063 
00064     const char * getType(){ return "nav_msgs/Path"; };
00065     const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; };
00066 
00067   };
00068 
00069 }
00070 #endif