Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

tf/tfMessage.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_tf_tfMessage_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_tf_tfMessage_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "geometry_msgs/TransformStamped.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace tf
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class tfMessage : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 uint32_t transforms_length;
Gary Servin 0:04ac6be8229a 17 typedef geometry_msgs::TransformStamped _transforms_type;
Gary Servin 0:04ac6be8229a 18 _transforms_type st_transforms;
Gary Servin 0:04ac6be8229a 19 _transforms_type * transforms;
Gary Servin 0:04ac6be8229a 20
Gary Servin 0:04ac6be8229a 21 tfMessage():
Gary Servin 0:04ac6be8229a 22 transforms_length(0), transforms(NULL)
Gary Servin 0:04ac6be8229a 23 {
Gary Servin 0:04ac6be8229a 24 }
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 int offset = 0;
Gary Servin 0:04ac6be8229a 29 *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 30 *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 31 *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 32 *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 33 offset += sizeof(this->transforms_length);
Gary Servin 0:04ac6be8229a 34 for( uint32_t i = 0; i < transforms_length; i++){
Gary Servin 0:04ac6be8229a 35 offset += this->transforms[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 36 }
Gary Servin 0:04ac6be8229a 37 return offset;
Gary Servin 0:04ac6be8229a 38 }
Gary Servin 0:04ac6be8229a 39
Gary Servin 0:04ac6be8229a 40 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 41 {
Gary Servin 0:04ac6be8229a 42 int offset = 0;
Gary Servin 0:04ac6be8229a 43 uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 44 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 45 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 46 transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->transforms_length);
Gary Servin 0:04ac6be8229a 48 if(transforms_lengthT > transforms_length)
Gary Servin 0:04ac6be8229a 49 this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
Gary Servin 0:04ac6be8229a 50 transforms_length = transforms_lengthT;
Gary Servin 0:04ac6be8229a 51 for( uint32_t i = 0; i < transforms_length; i++){
Gary Servin 0:04ac6be8229a 52 offset += this->st_transforms.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 53 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55 return offset;
Gary Servin 0:04ac6be8229a 56 }
Gary Servin 0:04ac6be8229a 57
Gary Servin 0:04ac6be8229a 58 const char * getType(){ return "tf/tfMessage"; };
Gary Servin 0:04ac6be8229a 59 const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 };
Gary Servin 0:04ac6be8229a 62
Gary Servin 0:04ac6be8229a 63 }
Gary Servin 0:04ac6be8229a 64 #endif