modify for Hydro version
Fork of rosserial_mbed_lib by
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?
User | Revision | Line number | New 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 |