modify for Hydro version
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Diff: tf/tfMessage.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/tf/tfMessage.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,54 +0,0 @@ -#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: - uint8_t transforms_length; - geometry_msgs::TransformStamped st_transforms; - geometry_msgs::TransformStamped * transforms; - - virtual int serialize(unsigned char *outbuffer) const - { - int offset = 0; - *(outbuffer + offset++) = transforms_length; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - for( uint8_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; - uint8_t 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( uint8_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; - } - - virtual const char * getType(){ return "tf/tfMessage"; }; - virtual const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; - - }; - -} -#endif \ No newline at end of file