Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

geometry_msgs/TransformStamped.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_geometry_msgs_TransformStamped_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_geometry_msgs_TransformStamped_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/Transform.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace geometry_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class TransformStamped : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 18 char * child_frame_id;
akashvibhute 0:30537dec6e0b 19 geometry_msgs::Transform transform;
akashvibhute 0:30537dec6e0b 20
akashvibhute 0:30537dec6e0b 21 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 22 {
akashvibhute 0:30537dec6e0b 23 int offset = 0;
akashvibhute 0:30537dec6e0b 24 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 25 uint32_t * length_child_frame_id = (uint32_t *)(outbuffer + offset);
akashvibhute 0:30537dec6e0b 26 *length_child_frame_id = strlen( (const char*) this->child_frame_id);
akashvibhute 0:30537dec6e0b 27 offset += 4;
akashvibhute 0:30537dec6e0b 28 memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id);
akashvibhute 0:30537dec6e0b 29 offset += *length_child_frame_id;
akashvibhute 0:30537dec6e0b 30 offset += this->transform.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 31 return offset;
akashvibhute 0:30537dec6e0b 32 }
akashvibhute 0:30537dec6e0b 33
akashvibhute 0:30537dec6e0b 34 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 35 {
akashvibhute 0:30537dec6e0b 36 int offset = 0;
akashvibhute 0:30537dec6e0b 37 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 38 uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset);
akashvibhute 0:30537dec6e0b 39 offset += 4;
akashvibhute 0:30537dec6e0b 40 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
akashvibhute 0:30537dec6e0b 41 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 42 }
akashvibhute 0:30537dec6e0b 43 inbuffer[offset+length_child_frame_id-1]=0;
akashvibhute 0:30537dec6e0b 44 this->child_frame_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 45 offset += length_child_frame_id;
akashvibhute 0:30537dec6e0b 46 offset += this->transform.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 47 return offset;
akashvibhute 0:30537dec6e0b 48 }
akashvibhute 0:30537dec6e0b 49
akashvibhute 0:30537dec6e0b 50 virtual const char * getType(){ return "geometry_msgs/TransformStamped"; };
akashvibhute 0:30537dec6e0b 51 virtual const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; };
akashvibhute 0:30537dec6e0b 52
akashvibhute 0:30537dec6e0b 53 };
akashvibhute 0:30537dec6e0b 54
akashvibhute 0:30537dec6e0b 55 }
akashvibhute 0:30537dec6e0b 56 #endif