tfMessage.h

00001 #ifndef _ROS_tf_tfMessage_h
00002 #define _ROS_tf_tfMessage_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "geometry_msgs/TransformStamped.h"
00009 
00010 namespace tf
00011 {
00012 
00013   class tfMessage : public ros::Msg
00014   {
00015     public:
00016       uint8_t transforms_length;
00017       geometry_msgs::TransformStamped st_transforms;
00018       geometry_msgs::TransformStamped * transforms;
00019 
00020     tfMessage():
00021       transforms_length(0), transforms(NULL)
00022     {
00023     }
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       *(outbuffer + offset++) = transforms_length;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = 0;
00032       for( uint8_t i = 0; i < transforms_length; i++){
00033       offset += this->transforms[i].serialize(outbuffer + offset);
00034       }
00035       return offset;
00036     }
00037 
00038     virtual int deserialize(unsigned char *inbuffer)
00039     {
00040       int offset = 0;
00041       uint8_t transforms_lengthT = *(inbuffer + offset++);
00042       if(transforms_lengthT > transforms_length)
00043         this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
00044       offset += 3;
00045       transforms_length = transforms_lengthT;
00046       for( uint8_t i = 0; i < transforms_length; i++){
00047       offset += this->st_transforms.deserialize(inbuffer + offset);
00048         memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
00049       }
00050      return offset;
00051     }
00052 
00053     const char * getType(){ return "tf/tfMessage"; };
00054     const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
00055 
00056   };
00057 
00058 }
00059 #endif