rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
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?
User | Revision | Line number | New 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 |