jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

geometry_msgs/TransformStamped.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_geometry_msgs_TransformStamped_h
jjzak 6:3c54bc7badd4 2 #define _ROS_geometry_msgs_TransformStamped_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "std_msgs/Header.h"
jjzak 6:3c54bc7badd4 9 #include "geometry_msgs/Transform.h"
jjzak 6:3c54bc7badd4 10
jjzak 6:3c54bc7badd4 11 namespace geometry_msgs
jjzak 6:3c54bc7badd4 12 {
jjzak 6:3c54bc7badd4 13
jjzak 6:3c54bc7badd4 14 class TransformStamped : public ros::Msg
jjzak 6:3c54bc7badd4 15 {
jjzak 6:3c54bc7badd4 16 public:
jjzak 6:3c54bc7badd4 17 std_msgs::Header header;
jjzak 6:3c54bc7badd4 18 char * child_frame_id;
jjzak 6:3c54bc7badd4 19 geometry_msgs::Transform transform;
jjzak 6:3c54bc7badd4 20
jjzak 6:3c54bc7badd4 21 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 22 {
jjzak 6:3c54bc7badd4 23 int offset = 0;
jjzak 6:3c54bc7badd4 24 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 25 uint32_t length_child_frame_id = strlen( (const char*) this->child_frame_id);
jjzak 6:3c54bc7badd4 26 memcpy(outbuffer + offset, &length_child_frame_id, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 27 offset += 4;
jjzak 6:3c54bc7badd4 28 memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
jjzak 6:3c54bc7badd4 29 offset += length_child_frame_id;
jjzak 6:3c54bc7badd4 30 offset += this->transform.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 31 return offset;
jjzak 6:3c54bc7badd4 32 }
jjzak 6:3c54bc7badd4 33
jjzak 6:3c54bc7badd4 34 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 35 {
jjzak 6:3c54bc7badd4 36 int offset = 0;
jjzak 6:3c54bc7badd4 37 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 38 uint32_t length_child_frame_id;
jjzak 6:3c54bc7badd4 39 memcpy(&length_child_frame_id, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 40 offset += 4;
jjzak 6:3c54bc7badd4 41 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
jjzak 6:3c54bc7badd4 42 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 43 }
jjzak 6:3c54bc7badd4 44 inbuffer[offset+length_child_frame_id-1]=0;
jjzak 6:3c54bc7badd4 45 this->child_frame_id = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 46 offset += length_child_frame_id;
jjzak 6:3c54bc7badd4 47 offset += this->transform.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 48 return offset;
jjzak 6:3c54bc7badd4 49 }
jjzak 6:3c54bc7badd4 50
jjzak 6:3c54bc7badd4 51 const char * getType(){ return "geometry_msgs/TransformStamped"; };
jjzak 6:3c54bc7badd4 52 const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; };
jjzak 6:3c54bc7badd4 53
jjzak 6:3c54bc7badd4 54 };
jjzak 6:3c54bc7badd4 55
jjzak 6:3c54bc7badd4 56 }
jjzak 6:3c54bc7badd4 57 #endif