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       char * child_frame_id;
00019       geometry_msgs::Transform transform;
00020 
00021     virtual int serialize(unsigned char *outbuffer) const
00022     {
00023       int offset = 0;
00024       offset += this->header.serialize(outbuffer + offset);
00025       uint32_t * length_child_frame_id = (uint32_t *)(outbuffer + offset);
00026       *length_child_frame_id = strlen( (const char*) this->child_frame_id);
00027       offset += 4;
00028       memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id);
00029       offset += *length_child_frame_id;
00030       offset += this->transform.serialize(outbuffer + offset);
00031       return offset;
00032     }
00033 
00034     virtual int deserialize(unsigned char *inbuffer)
00035     {
00036       int offset = 0;
00037       offset += this->header.deserialize(inbuffer + offset);
00038       uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset);
00039       offset += 4;
00040       for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
00041           inbuffer[k-1]=inbuffer[k];
00042       }
00043       inbuffer[offset+length_child_frame_id-1]=0;
00044       this->child_frame_id = (char *)(inbuffer + offset-1);
00045       offset += length_child_frame_id;
00046       offset += this->transform.deserialize(inbuffer + offset);
00047      return offset;
00048     }
00049 
00050     virtual const char * getType(){ return "geometry_msgs/TransformStamped"; };
00051     virtual const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; };
00052 
00053   };
00054 
00055 }
00056 #endif