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Diff: tf/tfMessage.h
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tf/tfMessage.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,53 @@ +#ifndef ros_tfMessage_h +#define ros_tfMessage_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" +#include "geometry_msgs/TransformStamped.h" + +namespace tf +{ + + class tfMessage : public ros::Msg + { + public: + unsigned char transforms_length; + geometry_msgs::TransformStamped st_transforms; + geometry_msgs::TransformStamped * transforms; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + *(outbuffer + offset++) = transforms_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < transforms_length; i++){ + offset += this->transforms[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + unsigned char transforms_lengthT = *(inbuffer + offset++); + if(transforms_lengthT > transforms_length) + this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); + offset += 3; + transforms_length = transforms_lengthT; + for( unsigned char i = 0; i < transforms_length; i++){ + offset += this->st_transforms.deserialize(inbuffer + offset); + memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); + } + return offset; + } + + virtual const char * getType(){ return "tf/tfMessage"; }; + + }; + +} +#endif \ No newline at end of file