Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

tf/tfMessage.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#ifndef _ROS_tf_tfMessage_h
#define _ROS_tf_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:
      uint32_t transforms_length;
      typedef geometry_msgs::TransformStamped _transforms_type;
      _transforms_type st_transforms;
      _transforms_type * transforms;

    tfMessage():
      transforms_length(0), transforms(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->transforms_length);
      for( uint32_t i = 0; i < transforms_length; i++){
      offset += this->transforms[i].serialize(outbuffer + offset);
      }
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->transforms_length);
      if(transforms_lengthT > transforms_length)
        this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
      transforms_length = transforms_lengthT;
      for( uint32_t 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;
    }

    const char * getType(){ return "tf/tfMessage"; };
    const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };

  };

}
#endif