TransformStamped.h

00001 #ifndef _ROS_geometry_msgs_TransformStamped_h
00002 #define _ROS_geometry_msgs_TransformStamped_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/Transform.h"
00010 
00011 namespace geometry_msgs
00012 {
00013 
00014   class TransformStamped : public ros::Msg
00015   {
00016     public:
00017       typedef std_msgs::Header _header_type;
00018       _header_type header;
00019       typedef const char* _child_frame_id_type;
00020       _child_frame_id_type child_frame_id;
00021       typedef geometry_msgs::Transform _transform_type;
00022       _transform_type transform;
00023 
00024     TransformStamped():
00025       header(),
00026       child_frame_id(""),
00027       transform()
00028     {
00029     }
00030 
00031     virtual int serialize(unsigned char *outbuffer) const
00032     {
00033       int offset = 0;
00034       offset += this->header.serialize(outbuffer + offset);
00035       uint32_t length_child_frame_id = strlen(this->child_frame_id);
00036       varToArr(outbuffer + offset, length_child_frame_id);
00037       offset += 4;
00038       memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
00039       offset += length_child_frame_id;
00040       offset += this->transform.serialize(outbuffer + offset);
00041       return offset;
00042     }
00043 
00044     virtual int deserialize(unsigned char *inbuffer)
00045     {
00046       int offset = 0;
00047       offset += this->header.deserialize(inbuffer + offset);
00048       uint32_t length_child_frame_id;
00049       arrToVar(length_child_frame_id, (inbuffer + offset));
00050       offset += 4;
00051       for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
00052           inbuffer[k-1]=inbuffer[k];
00053       }
00054       inbuffer[offset+length_child_frame_id-1]=0;
00055       this->child_frame_id = (char *)(inbuffer + offset-1);
00056       offset += length_child_frame_id;
00057       offset += this->transform.deserialize(inbuffer + offset);
00058      return offset;
00059     }
00060 
00061     const char * getType(){ return "geometry_msgs/TransformStamped"; };
00062     const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; };
00063 
00064   };
00065 
00066 }
00067 #endif