TFMessage.h

00001 #ifndef _ROS_tf2_msgs_TFMessage_h
00002 #define _ROS_tf2_msgs_TFMessage_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "geometry_msgs/TransformStamped.h"
00009 
00010 namespace tf2_msgs
00011 {
00012 
00013   class TFMessage : public ros::Msg
00014   {
00015     public:
00016       uint32_t transforms_length;
00017       typedef geometry_msgs::TransformStamped _transforms_type;
00018       _transforms_type st_transforms;
00019       _transforms_type * transforms;
00020 
00021     TFMessage():
00022       transforms_length(0), transforms(NULL)
00023     {
00024     }
00025 
00026     virtual int serialize(unsigned char *outbuffer) const
00027     {
00028       int offset = 0;
00029       *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
00030       *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
00031       *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
00032       *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
00033       offset += sizeof(this->transforms_length);
00034       for( uint32_t i = 0; i < transforms_length; i++){
00035       offset += this->transforms[i].serialize(outbuffer + offset);
00036       }
00037       return offset;
00038     }
00039 
00040     virtual int deserialize(unsigned char *inbuffer)
00041     {
00042       int offset = 0;
00043       uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00044       transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00045       transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00046       transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00047       offset += sizeof(this->transforms_length);
00048       if(transforms_lengthT > transforms_length)
00049         this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
00050       transforms_length = transforms_lengthT;
00051       for( uint32_t i = 0; i < transforms_length; i++){
00052       offset += this->st_transforms.deserialize(inbuffer + offset);
00053         memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
00054       }
00055      return offset;
00056     }
00057 
00058     const char * getType(){ return "tf2_msgs/TFMessage"; };
00059     const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
00060 
00061   };
00062 
00063 }
00064 #endif