LookupTransformGoal.h

00001 #ifndef _ROS_tf2_msgs_LookupTransformGoal_h
00002 #define _ROS_tf2_msgs_LookupTransformGoal_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "ros/time.h"
00009 #include "ros/duration.h"
00010 
00011 namespace tf2_msgs
00012 {
00013 
00014   class LookupTransformGoal : public ros::Msg
00015   {
00016     public:
00017       typedef const char* _target_frame_type;
00018       _target_frame_type target_frame;
00019       typedef const char* _source_frame_type;
00020       _source_frame_type source_frame;
00021       typedef ros::Time _source_time_type;
00022       _source_time_type source_time;
00023       typedef ros::Duration _timeout_type;
00024       _timeout_type timeout;
00025       typedef ros::Time _target_time_type;
00026       _target_time_type target_time;
00027       typedef const char* _fixed_frame_type;
00028       _fixed_frame_type fixed_frame;
00029       typedef bool _advanced_type;
00030       _advanced_type advanced;
00031 
00032     LookupTransformGoal():
00033       target_frame(""),
00034       source_frame(""),
00035       source_time(),
00036       timeout(),
00037       target_time(),
00038       fixed_frame(""),
00039       advanced(0)
00040     {
00041     }
00042 
00043     virtual int serialize(unsigned char *outbuffer) const
00044     {
00045       int offset = 0;
00046       uint32_t length_target_frame = strlen(this->target_frame);
00047       varToArr(outbuffer + offset, length_target_frame);
00048       offset += 4;
00049       memcpy(outbuffer + offset, this->target_frame, length_target_frame);
00050       offset += length_target_frame;
00051       uint32_t length_source_frame = strlen(this->source_frame);
00052       varToArr(outbuffer + offset, length_source_frame);
00053       offset += 4;
00054       memcpy(outbuffer + offset, this->source_frame, length_source_frame);
00055       offset += length_source_frame;
00056       *(outbuffer + offset + 0) = (this->source_time.sec >> (8 * 0)) & 0xFF;
00057       *(outbuffer + offset + 1) = (this->source_time.sec >> (8 * 1)) & 0xFF;
00058       *(outbuffer + offset + 2) = (this->source_time.sec >> (8 * 2)) & 0xFF;
00059       *(outbuffer + offset + 3) = (this->source_time.sec >> (8 * 3)) & 0xFF;
00060       offset += sizeof(this->source_time.sec);
00061       *(outbuffer + offset + 0) = (this->source_time.nsec >> (8 * 0)) & 0xFF;
00062       *(outbuffer + offset + 1) = (this->source_time.nsec >> (8 * 1)) & 0xFF;
00063       *(outbuffer + offset + 2) = (this->source_time.nsec >> (8 * 2)) & 0xFF;
00064       *(outbuffer + offset + 3) = (this->source_time.nsec >> (8 * 3)) & 0xFF;
00065       offset += sizeof(this->source_time.nsec);
00066       *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
00067       *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
00068       *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
00069       *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
00070       offset += sizeof(this->timeout.sec);
00071       *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
00072       *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
00073       *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
00074       *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
00075       offset += sizeof(this->timeout.nsec);
00076       *(outbuffer + offset + 0) = (this->target_time.sec >> (8 * 0)) & 0xFF;
00077       *(outbuffer + offset + 1) = (this->target_time.sec >> (8 * 1)) & 0xFF;
00078       *(outbuffer + offset + 2) = (this->target_time.sec >> (8 * 2)) & 0xFF;
00079       *(outbuffer + offset + 3) = (this->target_time.sec >> (8 * 3)) & 0xFF;
00080       offset += sizeof(this->target_time.sec);
00081       *(outbuffer + offset + 0) = (this->target_time.nsec >> (8 * 0)) & 0xFF;
00082       *(outbuffer + offset + 1) = (this->target_time.nsec >> (8 * 1)) & 0xFF;
00083       *(outbuffer + offset + 2) = (this->target_time.nsec >> (8 * 2)) & 0xFF;
00084       *(outbuffer + offset + 3) = (this->target_time.nsec >> (8 * 3)) & 0xFF;
00085       offset += sizeof(this->target_time.nsec);
00086       uint32_t length_fixed_frame = strlen(this->fixed_frame);
00087       varToArr(outbuffer + offset, length_fixed_frame);
00088       offset += 4;
00089       memcpy(outbuffer + offset, this->fixed_frame, length_fixed_frame);
00090       offset += length_fixed_frame;
00091       union {
00092         bool real;
00093         uint8_t base;
00094       } u_advanced;
00095       u_advanced.real = this->advanced;
00096       *(outbuffer + offset + 0) = (u_advanced.base >> (8 * 0)) & 0xFF;
00097       offset += sizeof(this->advanced);
00098       return offset;
00099     }
00100 
00101     virtual int deserialize(unsigned char *inbuffer)
00102     {
00103       int offset = 0;
00104       uint32_t length_target_frame;
00105       arrToVar(length_target_frame, (inbuffer + offset));
00106       offset += 4;
00107       for(unsigned int k= offset; k< offset+length_target_frame; ++k){
00108           inbuffer[k-1]=inbuffer[k];
00109       }
00110       inbuffer[offset+length_target_frame-1]=0;
00111       this->target_frame = (char *)(inbuffer + offset-1);
00112       offset += length_target_frame;
00113       uint32_t length_source_frame;
00114       arrToVar(length_source_frame, (inbuffer + offset));
00115       offset += 4;
00116       for(unsigned int k= offset; k< offset+length_source_frame; ++k){
00117           inbuffer[k-1]=inbuffer[k];
00118       }
00119       inbuffer[offset+length_source_frame-1]=0;
00120       this->source_frame = (char *)(inbuffer + offset-1);
00121       offset += length_source_frame;
00122       this->source_time.sec =  ((uint32_t) (*(inbuffer + offset)));
00123       this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00124       this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00125       this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00126       offset += sizeof(this->source_time.sec);
00127       this->source_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
00128       this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00129       this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00130       this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00131       offset += sizeof(this->source_time.nsec);
00132       this->timeout.sec =  ((uint32_t) (*(inbuffer + offset)));
00133       this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00134       this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00135       this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00136       offset += sizeof(this->timeout.sec);
00137       this->timeout.nsec =  ((uint32_t) (*(inbuffer + offset)));
00138       this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00139       this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00140       this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00141       offset += sizeof(this->timeout.nsec);
00142       this->target_time.sec =  ((uint32_t) (*(inbuffer + offset)));
00143       this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00144       this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00145       this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00146       offset += sizeof(this->target_time.sec);
00147       this->target_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
00148       this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00149       this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00150       this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00151       offset += sizeof(this->target_time.nsec);
00152       uint32_t length_fixed_frame;
00153       arrToVar(length_fixed_frame, (inbuffer + offset));
00154       offset += 4;
00155       for(unsigned int k= offset; k< offset+length_fixed_frame; ++k){
00156           inbuffer[k-1]=inbuffer[k];
00157       }
00158       inbuffer[offset+length_fixed_frame-1]=0;
00159       this->fixed_frame = (char *)(inbuffer + offset-1);
00160       offset += length_fixed_frame;
00161       union {
00162         bool real;
00163         uint8_t base;
00164       } u_advanced;
00165       u_advanced.base = 0;
00166       u_advanced.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00167       this->advanced = u_advanced.real;
00168       offset += sizeof(this->advanced);
00169      return offset;
00170     }
00171 
00172     const char * getType(){ return "tf2_msgs/LookupTransformGoal"; };
00173     const char * getMD5(){ return "35e3720468131d675a18bb6f3e5f22f8"; };
00174 
00175   };
00176 
00177 }
00178 #endif