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     virtual int serialize(unsigned char *outbuffer) const
00021     {
00022       int offset = 0;
00023       *(outbuffer + offset++) = transforms_length;
00024       *(outbuffer + offset++) = 0;
00025       *(outbuffer + offset++) = 0;
00026       *(outbuffer + offset++) = 0;
00027       for( uint8_t i = 0; i < transforms_length; i++){
00028       offset += this->transforms[i].serialize(outbuffer + offset);
00029       }
00030       return offset;
00031     }
00032 
00033     virtual int deserialize(unsigned char *inbuffer)
00034     {
00035       int offset = 0;
00036       uint8_t transforms_lengthT = *(inbuffer + offset++);
00037       if(transforms_lengthT > transforms_length)
00038         this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
00039       offset += 3;
00040       transforms_length = transforms_lengthT;
00041       for( uint8_t i = 0; i < transforms_length; i++){
00042       offset += this->st_transforms.deserialize(inbuffer + offset);
00043         memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
00044       }
00045      return offset;
00046     }
00047 
00048     virtual const char * getType(){ return "tf/tfMessage"; };
00049     virtual const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
00050 
00051   };
00052 
00053 }
00054 #endif