ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

tf/tfMessage.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_tf_tfMessage_h
garyservin 0:fd24f7ca9688 2 #define _ROS_tf_tfMessage_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "geometry_msgs/TransformStamped.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace tf
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class tfMessage : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 uint8_t transforms_length;
garyservin 0:fd24f7ca9688 17 geometry_msgs::TransformStamped st_transforms;
garyservin 0:fd24f7ca9688 18 geometry_msgs::TransformStamped * transforms;
garyservin 0:fd24f7ca9688 19
garyservin 0:fd24f7ca9688 20 tfMessage():
garyservin 0:fd24f7ca9688 21 transforms_length(0), transforms(NULL)
garyservin 0:fd24f7ca9688 22 {
garyservin 0:fd24f7ca9688 23 }
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 int offset = 0;
garyservin 0:fd24f7ca9688 28 *(outbuffer + offset++) = transforms_length;
garyservin 0:fd24f7ca9688 29 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 30 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 31 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 32 for( uint8_t i = 0; i < transforms_length; i++){
garyservin 0:fd24f7ca9688 33 offset += this->transforms[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 34 }
garyservin 0:fd24f7ca9688 35 return offset;
garyservin 0:fd24f7ca9688 36 }
garyservin 0:fd24f7ca9688 37
garyservin 0:fd24f7ca9688 38 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 39 {
garyservin 0:fd24f7ca9688 40 int offset = 0;
garyservin 0:fd24f7ca9688 41 uint8_t transforms_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 42 if(transforms_lengthT > transforms_length)
garyservin 0:fd24f7ca9688 43 this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
garyservin 0:fd24f7ca9688 44 offset += 3;
garyservin 0:fd24f7ca9688 45 transforms_length = transforms_lengthT;
garyservin 0:fd24f7ca9688 46 for( uint8_t i = 0; i < transforms_length; i++){
garyservin 0:fd24f7ca9688 47 offset += this->st_transforms.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 48 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
garyservin 0:fd24f7ca9688 49 }
garyservin 0:fd24f7ca9688 50 return offset;
garyservin 0:fd24f7ca9688 51 }
garyservin 0:fd24f7ca9688 52
garyservin 0:fd24f7ca9688 53 const char * getType(){ return "tf/tfMessage"; };
garyservin 0:fd24f7ca9688 54 const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
garyservin 0:fd24f7ca9688 55
garyservin 0:fd24f7ca9688 56 };
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 }
garyservin 0:fd24f7ca9688 59 #endif