Fa Cake / ros_lib_kinetic

ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

Dependents:   mbed-os-example-blinky

tf/tfMessage.h@2:f2240ad62eaf, 2019-08-01 (annotated)

Committer:
fllay
Date:
Thu Aug 01 17:08:55 2019 +0000
Revision:
2:f2240ad62eaf
Parent:
0:9e9b7db60fd5 
fix time.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_tf_tfMessage_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_tf_tfMessage_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "geometry_msgs/TransformStamped.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace tf
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class tfMessage : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 uint32_t transforms_length;
garyservin 0:9e9b7db60fd5 17 typedef geometry_msgs::TransformStamped _transforms_type;
garyservin 0:9e9b7db60fd5 18 _transforms_type st_transforms;
garyservin 0:9e9b7db60fd5 19 _transforms_type * transforms;
garyservin 0:9e9b7db60fd5 20
garyservin 0:9e9b7db60fd5 21 tfMessage():
garyservin 0:9e9b7db60fd5 22 transforms_length(0), transforms(NULL)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 30 *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 31 *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 32 *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 33 offset += sizeof(this->transforms_length);
garyservin 0:9e9b7db60fd5 34 for( uint32_t i = 0; i < transforms_length; i++){
garyservin 0:9e9b7db60fd5 35 offset += this->transforms[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 36 }
garyservin 0:9e9b7db60fd5 37 return offset;
garyservin 0:9e9b7db60fd5 38 }
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 int offset = 0;
garyservin 0:9e9b7db60fd5 43 uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 44 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 45 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 46 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->transforms_length);
garyservin 0:9e9b7db60fd5 48 if(transforms_lengthT > transforms_length)
garyservin 0:9e9b7db60fd5 49 this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
garyservin 0:9e9b7db60fd5 50 transforms_length = transforms_lengthT;
garyservin 0:9e9b7db60fd5 51 for( uint32_t i = 0; i < transforms_length; i++){
garyservin 0:9e9b7db60fd5 52 offset += this->st_transforms.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 53 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 return offset;
garyservin 0:9e9b7db60fd5 56 }
garyservin 0:9e9b7db60fd5 57
garyservin 0:9e9b7db60fd5 58 const char * getType(){ return "tf/tfMessage"; };
garyservin 0:9e9b7db60fd5 59 const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 };
garyservin 0:9e9b7db60fd5 62
garyservin 0:9e9b7db60fd5 63 }
garyservin 0:9e9b7db60fd5 64 #endif