modify for Hydro version
Fork of rosserial_mbed_lib by
tf/tfMessage.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 6:3c54bc7badd4 | 1 | #ifndef _ROS_tf_tfMessage_h |
jjzak | 6:3c54bc7badd4 | 2 | #define _ROS_tf_tfMessage_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 "geometry_msgs/TransformStamped.h" |
jjzak | 6:3c54bc7badd4 | 9 | |
jjzak | 6:3c54bc7badd4 | 10 | namespace tf |
jjzak | 6:3c54bc7badd4 | 11 | { |
jjzak | 6:3c54bc7badd4 | 12 | |
jjzak | 6:3c54bc7badd4 | 13 | class tfMessage : public ros::Msg |
jjzak | 6:3c54bc7badd4 | 14 | { |
jjzak | 6:3c54bc7badd4 | 15 | public: |
jjzak | 6:3c54bc7badd4 | 16 | uint8_t transforms_length; |
jjzak | 6:3c54bc7badd4 | 17 | geometry_msgs::TransformStamped st_transforms; |
jjzak | 6:3c54bc7badd4 | 18 | geometry_msgs::TransformStamped * transforms; |
jjzak | 6:3c54bc7badd4 | 19 | |
jjzak | 6:3c54bc7badd4 | 20 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 6:3c54bc7badd4 | 21 | { |
jjzak | 6:3c54bc7badd4 | 22 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 23 | *(outbuffer + offset++) = transforms_length; |
jjzak | 6:3c54bc7badd4 | 24 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 25 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 26 | *(outbuffer + offset++) = 0; |
jjzak | 6:3c54bc7badd4 | 27 | for( uint8_t i = 0; i < transforms_length; i++){ |
jjzak | 6:3c54bc7badd4 | 28 | offset += this->transforms[i].serialize(outbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 29 | } |
jjzak | 6:3c54bc7badd4 | 30 | return offset; |
jjzak | 6:3c54bc7badd4 | 31 | } |
jjzak | 6:3c54bc7badd4 | 32 | |
jjzak | 6:3c54bc7badd4 | 33 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 6:3c54bc7badd4 | 34 | { |
jjzak | 6:3c54bc7badd4 | 35 | int offset = 0; |
jjzak | 6:3c54bc7badd4 | 36 | uint8_t transforms_lengthT = *(inbuffer + offset++); |
jjzak | 6:3c54bc7badd4 | 37 | if(transforms_lengthT > transforms_length) |
jjzak | 6:3c54bc7badd4 | 38 | this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); |
jjzak | 6:3c54bc7badd4 | 39 | offset += 3; |
jjzak | 6:3c54bc7badd4 | 40 | transforms_length = transforms_lengthT; |
jjzak | 6:3c54bc7badd4 | 41 | for( uint8_t i = 0; i < transforms_length; i++){ |
jjzak | 6:3c54bc7badd4 | 42 | offset += this->st_transforms.deserialize(inbuffer + offset); |
jjzak | 6:3c54bc7badd4 | 43 | memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); |
jjzak | 6:3c54bc7badd4 | 44 | } |
jjzak | 6:3c54bc7badd4 | 45 | return offset; |
jjzak | 6:3c54bc7badd4 | 46 | } |
jjzak | 6:3c54bc7badd4 | 47 | |
jjzak | 6:3c54bc7badd4 | 48 | const char * getType(){ return "tf/tfMessage"; }; |
jjzak | 6:3c54bc7badd4 | 49 | const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; |
jjzak | 6:3c54bc7badd4 | 50 | |
jjzak | 6:3c54bc7badd4 | 51 | }; |
jjzak | 6:3c54bc7badd4 | 52 | |
jjzak | 6:3c54bc7badd4 | 53 | } |
jjzak | 6:3c54bc7badd4 | 54 | #endif |