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
geometry_msgs/TransformStamped.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | #ifndef ros_TransformStamped_h |
| nucho | 0:06fc856e99ca | 2 | #define ros_TransformStamped_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 "std_msgs/Header.h" |
| nucho | 0:06fc856e99ca | 9 | #include "geometry_msgs/Transform.h" |
| nucho | 0:06fc856e99ca | 10 | |
| nucho | 0:06fc856e99ca | 11 | namespace geometry_msgs |
| nucho | 0:06fc856e99ca | 12 | { |
| nucho | 0:06fc856e99ca | 13 | |
| nucho | 0:06fc856e99ca | 14 | class TransformStamped : public ros::Msg |
| nucho | 0:06fc856e99ca | 15 | { |
| nucho | 0:06fc856e99ca | 16 | public: |
| nucho | 0:06fc856e99ca | 17 | std_msgs::Header header; |
| nucho | 0:06fc856e99ca | 18 | char * child_frame_id; |
| nucho | 0:06fc856e99ca | 19 | geometry_msgs::Transform transform; |
| nucho | 0:06fc856e99ca | 20 | |
| nucho | 0:06fc856e99ca | 21 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:06fc856e99ca | 22 | { |
| nucho | 0:06fc856e99ca | 23 | int offset = 0; |
| nucho | 0:06fc856e99ca | 24 | offset += this->header.serialize(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 25 | long * length_child_frame_id = (long *)(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 26 | *length_child_frame_id = strlen( (const char*) this->child_frame_id); |
| nucho | 0:06fc856e99ca | 27 | offset += 4; |
| nucho | 0:06fc856e99ca | 28 | memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id); |
| nucho | 0:06fc856e99ca | 29 | offset += *length_child_frame_id; |
| nucho | 0:06fc856e99ca | 30 | offset += this->transform.serialize(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 31 | return offset; |
| nucho | 0:06fc856e99ca | 32 | } |
| nucho | 0:06fc856e99ca | 33 | |
| nucho | 0:06fc856e99ca | 34 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:06fc856e99ca | 35 | { |
| nucho | 0:06fc856e99ca | 36 | int offset = 0; |
| nucho | 0:06fc856e99ca | 37 | offset += this->header.deserialize(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 38 | uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 39 | offset += 4; |
| nucho | 0:06fc856e99ca | 40 | for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){ |
| nucho | 0:06fc856e99ca | 41 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:06fc856e99ca | 42 | } |
| nucho | 0:06fc856e99ca | 43 | inbuffer[offset+length_child_frame_id-1]=0; |
| nucho | 0:06fc856e99ca | 44 | this->child_frame_id = (char *)(inbuffer + offset-1); |
| nucho | 0:06fc856e99ca | 45 | offset += length_child_frame_id; |
| nucho | 0:06fc856e99ca | 46 | offset += this->transform.deserialize(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 47 | return offset; |
| nucho | 0:06fc856e99ca | 48 | } |
| nucho | 0:06fc856e99ca | 49 | |
| nucho | 0:06fc856e99ca | 50 | virtual const char * getType(){ return "geometry_msgs/TransformStamped"; }; |
| nucho | 0:06fc856e99ca | 51 | |
| nucho | 0:06fc856e99ca | 52 | }; |
| nucho | 0:06fc856e99ca | 53 | |
| nucho | 0:06fc856e99ca | 54 | } |
| nucho | 0:06fc856e99ca | 55 | #endif |