TransformStamped.h

00001 #ifndef _ROS_geometry_msgs_TransformStamped_h
00002 #define _ROS_geometry_msgs_TransformStamped_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/Transform.h"
00010 
00011 namespace geometry_msgs
00012 {
00013 
00014   class TransformStamped : public ros::Msg
00015   {
00016     public:
00017       std_msgs::Header header;
00018       const char* child_frame_id;
00019       geometry_msgs::Transform transform;
00020 
00021     TransformStamped():
00022       header(),
00023       child_frame_id(""),
00024       transform()
00025     {
00026     }
00027 
00028     virtual int serialize(unsigned char *outbuffer) const
00029     {
00030       int offset = 0;
00031       offset += this->header.serialize(outbuffer + offset);
00032       uint32_t length_child_frame_id = strlen(this->child_frame_id);
00033       memcpy(outbuffer + offset, &length_child_frame_id, sizeof(uint32_t));
00034       offset += 4;
00035       memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
00036       offset += length_child_frame_id;
00037       offset += this->transform.serialize(outbuffer + offset);
00038       return offset;
00039     }
00040 
00041     virtual int deserialize(unsigned char *inbuffer)
00042     {
00043       int offset = 0;
00044       offset += this->header.deserialize(inbuffer + offset);
00045       uint32_t length_child_frame_id;
00046       memcpy(&length_child_frame_id, (inbuffer + offset), sizeof(uint32_t));
00047       offset += 4;
00048       for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
00049           inbuffer[k-1]=inbuffer[k];
00050       }
00051       inbuffer[offset+length_child_frame_id-1]=0;
00052       this->child_frame_id = (char *)(inbuffer + offset-1);
00053       offset += length_child_frame_id;
00054       offset += this->transform.deserialize(inbuffer + offset);
00055      return offset;
00056     }
00057 
00058     const char * getType(){ return "geometry_msgs/TransformStamped"; };
00059     const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; };
00060 
00061   };
00062 
00063 }
00064 #endif