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
- Committer:
- nucho
- Date:
- 2011-11-12
- Revision:
- 3:dff241b66f84
- Parent:
- 0:06fc856e99ca
File content as of revision 3:dff241b66f84:
#ifndef _ROS_tf_tfMessage_h #define _ROS_tf_tfMessage_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/TransformStamped.h" namespace tf { class tfMessage : public ros::Msg { public: uint8_t transforms_length; geometry_msgs::TransformStamped st_transforms; geometry_msgs::TransformStamped * transforms; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; *(outbuffer + offset++) = transforms_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < transforms_length; i++){ offset += this->transforms[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint8_t transforms_lengthT = *(inbuffer + offset++); if(transforms_lengthT > transforms_length) this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); offset += 3; transforms_length = transforms_lengthT; for( uint8_t i = 0; i < transforms_length; i++){ offset += this->st_transforms.deserialize(inbuffer + offset); memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); } return offset; } virtual const char * getType(){ return "tf/tfMessage"; }; virtual const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; }; } #endif