ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
Diff: tf2_msgs/TFMessage.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 tf2_msgs/TFMessage.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tf2_msgs/TFMessage.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,64 @@ +#ifndef _ROS_tf2_msgs_TFMessage_h +#define _ROS_tf2_msgs_TFMessage_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "geometry_msgs/TransformStamped.h" + +namespace tf2_msgs +{ + + class TFMessage : public ros::Msg + { + public: + uint32_t transforms_length; + typedef geometry_msgs::TransformStamped _transforms_type; + _transforms_type st_transforms; + _transforms_type * transforms; + + TFMessage(): + transforms_length(0), transforms(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->transforms_length); + for( uint32_t i = 0; i < transforms_length; i++){ + offset += this->transforms[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); + transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->transforms_length); + if(transforms_lengthT > transforms_length) + this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); + transforms_length = transforms_lengthT; + for( uint32_t i = 0; i < transforms_length; i++){ + offset += this->st_transforms.deserialize(inbuffer + offset); + memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); + } + return offset; + } + + const char * getType(){ return "tf2_msgs/TFMessage"; }; + const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; + + }; + +} +#endif \ No newline at end of file