nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
tf/tfMessage.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | #ifndef ros_tfMessage_h |
| nucho | 0:06fc856e99ca | 2 | #define ros_tfMessage_h |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | #include <stdint.h> |
| nucho | 0:06fc856e99ca | 5 | #include <string.h> |
| nucho | 0:06fc856e99ca | 6 | #include <stdlib.h> |
| nucho | 0:06fc856e99ca | 7 | #include "../ros/msg.h" |
| nucho | 0:06fc856e99ca | 8 | #include "geometry_msgs/TransformStamped.h" |
| nucho | 0:06fc856e99ca | 9 | |
| nucho | 0:06fc856e99ca | 10 | namespace tf |
| nucho | 0:06fc856e99ca | 11 | { |
| nucho | 0:06fc856e99ca | 12 | |
| nucho | 0:06fc856e99ca | 13 | class tfMessage : public ros::Msg |
| nucho | 0:06fc856e99ca | 14 | { |
| nucho | 0:06fc856e99ca | 15 | public: |
| nucho | 0:06fc856e99ca | 16 | unsigned char transforms_length; |
| nucho | 0:06fc856e99ca | 17 | geometry_msgs::TransformStamped st_transforms; |
| nucho | 0:06fc856e99ca | 18 | geometry_msgs::TransformStamped * transforms; |
| nucho | 0:06fc856e99ca | 19 | |
| nucho | 0:06fc856e99ca | 20 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:06fc856e99ca | 21 | { |
| nucho | 0:06fc856e99ca | 22 | int offset = 0; |
| nucho | 0:06fc856e99ca | 23 | *(outbuffer + offset++) = transforms_length; |
| nucho | 0:06fc856e99ca | 24 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 25 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 26 | *(outbuffer + offset++) = 0; |
| nucho | 0:06fc856e99ca | 27 | for( unsigned char i = 0; i < transforms_length; i++){ |
| nucho | 0:06fc856e99ca | 28 | offset += this->transforms[i].serialize(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 29 | } |
| nucho | 0:06fc856e99ca | 30 | return offset; |
| nucho | 0:06fc856e99ca | 31 | } |
| nucho | 0:06fc856e99ca | 32 | |
| nucho | 0:06fc856e99ca | 33 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:06fc856e99ca | 34 | { |
| nucho | 0:06fc856e99ca | 35 | int offset = 0; |
| nucho | 0:06fc856e99ca | 36 | unsigned char transforms_lengthT = *(inbuffer + offset++); |
| nucho | 0:06fc856e99ca | 37 | if(transforms_lengthT > transforms_length) |
| nucho | 0:06fc856e99ca | 38 | this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); |
| nucho | 0:06fc856e99ca | 39 | offset += 3; |
| nucho | 0:06fc856e99ca | 40 | transforms_length = transforms_lengthT; |
| nucho | 0:06fc856e99ca | 41 | for( unsigned char i = 0; i < transforms_length; i++){ |
| nucho | 0:06fc856e99ca | 42 | offset += this->st_transforms.deserialize(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 43 | memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); |
| nucho | 0:06fc856e99ca | 44 | } |
| nucho | 0:06fc856e99ca | 45 | return offset; |
| nucho | 0:06fc856e99ca | 46 | } |
| nucho | 0:06fc856e99ca | 47 | |
| nucho | 0:06fc856e99ca | 48 | virtual const char * getType(){ return "tf/tfMessage"; }; |
| nucho | 0:06fc856e99ca | 49 | |
| nucho | 0:06fc856e99ca | 50 | }; |
| nucho | 0:06fc856e99ca | 51 | |
| nucho | 0:06fc856e99ca | 52 | } |
| nucho | 0:06fc856e99ca | 53 | #endif |