Diff: tf/tfMessage.h

Revision:

0:06fc856e99ca

Child:

3:dff241b66f84

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf/tfMessage.h	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,53 @@
+#ifndef ros_tfMessage_h
+#define ros_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:
+      unsigned char transforms_length;
+      geometry_msgs::TransformStamped st_transforms;
+      geometry_msgs::TransformStamped * transforms;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = transforms_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      unsigned char 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( unsigned char 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"; };
+
+  };
+
+}
+#endif
\ No newline at end of file