Path.h

00001 #ifndef _ROS_nav_msgs_Path_h
00002 #define _ROS_nav_msgs_Path_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/PoseStamped.h"
00010 
00011 namespace nav_msgs
00012 {
00013 
00014   class Path : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       uint8_t poses_length;
00019       geometry_msgs::PoseStamped st_poses;
00020       geometry_msgs::PoseStamped * poses;
00021 
00022     Path():
00023       header(),
00024       poses_length(0), poses(NULL)
00025     {
00026     }
00027 
00028     virtual int serialize(unsigned char *outbuffer) const
00029     {
00030       int offset = 0;
00031       offset += this->header.serialize(outbuffer + offset);
00032       *(outbuffer + offset++) = poses_length;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = 0;
00035       *(outbuffer + offset++) = 0;
00036       for( uint8_t i = 0; i < poses_length; i++){
00037       offset += this->poses[i].serialize(outbuffer + offset);
00038       }
00039       return offset;
00040     }
00041 
00042     virtual int deserialize(unsigned char *inbuffer)
00043     {
00044       int offset = 0;
00045       offset += this->header.deserialize(inbuffer + offset);
00046       uint8_t poses_lengthT = *(inbuffer + offset++);
00047       if(poses_lengthT > poses_length)
00048         this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped));
00049       offset += 3;
00050       poses_length = poses_lengthT;
00051       for( uint8_t i = 0; i < poses_length; i++){
00052       offset += this->st_poses.deserialize(inbuffer + offset);
00053         memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped));
00054       }
00055      return offset;
00056     }
00057 
00058     const char * getType(){ return "nav_msgs/Path"; };
00059     const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; };
00060 
00061   };
00062 
00063 }
00064 #endif