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
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_geometry_msgs_TransformStamped_h #define _ROS_geometry_msgs_TransformStamped_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" #include "geometry_msgs/Transform.h" namespace geometry_msgs { class TransformStamped : public ros::Msg { public: std_msgs::Header header; char * child_frame_id; geometry_msgs::Transform transform; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); uint32_t * length_child_frame_id = (uint32_t *)(outbuffer + offset); *length_child_frame_id = strlen( (const char*) this->child_frame_id); offset += 4; memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id); offset += *length_child_frame_id; offset += this->transform.serialize(outbuffer + offset); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset); offset += 4; for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_child_frame_id-1]=0; this->child_frame_id = (char *)(inbuffer + offset-1); offset += length_child_frame_id; offset += this->transform.deserialize(inbuffer + offset); return offset; } virtual const char * getType(){ return "geometry_msgs/TransformStamped"; }; virtual const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; }; }; } #endif