modify for Hydro version
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Diff: tf/FrameGraph.h
- Revision:
- 6:3c54bc7badd4
diff -r 8cd48977ec68 -r 3c54bc7badd4 tf/FrameGraph.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tf/FrameGraph.h Sat Oct 26 15:39:01 2013 +0000 @@ -0,0 +1,78 @@ +#ifndef _ROS_SERVICE_FrameGraph_h +#define _ROS_SERVICE_FrameGraph_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace tf +{ + +static const char FRAMEGRAPH[] = "tf/FrameGraph"; + + class FrameGraphRequest : public ros::Msg + { + public: + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + return offset; + } + + const char * getType(){ return FRAMEGRAPH; }; + const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; + + }; + + class FrameGraphResponse : public ros::Msg + { + public: + char * dot_graph; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_dot_graph = strlen( (const char*) this->dot_graph); + memcpy(outbuffer + offset, &length_dot_graph, sizeof(uint32_t)); + offset += 4; + memcpy(outbuffer + offset, this->dot_graph, length_dot_graph); + offset += length_dot_graph; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_dot_graph; + memcpy(&length_dot_graph, (inbuffer + offset), sizeof(uint32_t)); + offset += 4; + for(unsigned int k= offset; k< offset+length_dot_graph; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_dot_graph-1]=0; + this->dot_graph = (char *)(inbuffer + offset-1); + offset += length_dot_graph; + return offset; + } + + const char * getType(){ return FRAMEGRAPH; }; + const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; }; + + }; + + class FrameGraph { + public: + typedef FrameGraphRequest Request; + typedef FrameGraphResponse Response; + }; + +} +#endif +