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.
Dependents: rosserial_mbed robot_S2
tf/tfMessage.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_tf_tfMessage_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_tf_tfMessage_h |
| nucho | 0:77afd7560544 | 3 | |
| nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 5 | #include <string.h> |
| nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 7 | #include "ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | #include "geometry_msgs/TransformStamped.h" |
| nucho | 0:77afd7560544 | 9 | |
| nucho | 0:77afd7560544 | 10 | namespace tf |
| nucho | 0:77afd7560544 | 11 | { |
| nucho | 0:77afd7560544 | 12 | |
| nucho | 0:77afd7560544 | 13 | class tfMessage : public ros::Msg |
| nucho | 0:77afd7560544 | 14 | { |
| nucho | 0:77afd7560544 | 15 | public: |
| nucho | 3:1cf99502f396 | 16 | uint8_t transforms_length; |
| nucho | 0:77afd7560544 | 17 | geometry_msgs::TransformStamped st_transforms; |
| nucho | 0:77afd7560544 | 18 | geometry_msgs::TransformStamped * transforms; |
| nucho | 0:77afd7560544 | 19 | |
| nucho | 3:1cf99502f396 | 20 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 0:77afd7560544 | 21 | { |
| nucho | 0:77afd7560544 | 22 | int offset = 0; |
| nucho | 0:77afd7560544 | 23 | *(outbuffer + offset++) = transforms_length; |
| nucho | 0:77afd7560544 | 24 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 25 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 26 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 27 | for( uint8_t i = 0; i < transforms_length; i++){ |
| nucho | 0:77afd7560544 | 28 | offset += this->transforms[i].serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 29 | } |
| nucho | 0:77afd7560544 | 30 | return offset; |
| nucho | 0:77afd7560544 | 31 | } |
| nucho | 0:77afd7560544 | 32 | |
| nucho | 0:77afd7560544 | 33 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 34 | { |
| nucho | 0:77afd7560544 | 35 | int offset = 0; |
| nucho | 3:1cf99502f396 | 36 | uint8_t transforms_lengthT = *(inbuffer + offset++); |
| nucho | 0:77afd7560544 | 37 | if(transforms_lengthT > transforms_length) |
| nucho | 0:77afd7560544 | 38 | this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); |
| nucho | 0:77afd7560544 | 39 | offset += 3; |
| nucho | 0:77afd7560544 | 40 | transforms_length = transforms_lengthT; |
| nucho | 3:1cf99502f396 | 41 | for( uint8_t i = 0; i < transforms_length; i++){ |
| nucho | 0:77afd7560544 | 42 | offset += this->st_transforms.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 43 | memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); |
| nucho | 0:77afd7560544 | 44 | } |
| nucho | 0:77afd7560544 | 45 | return offset; |
| nucho | 0:77afd7560544 | 46 | } |
| nucho | 0:77afd7560544 | 47 | |
| nucho | 0:77afd7560544 | 48 | virtual const char * getType(){ return "tf/tfMessage"; }; |
| nucho | 3:1cf99502f396 | 49 | virtual const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; |
| nucho | 0:77afd7560544 | 50 | |
| nucho | 0:77afd7560544 | 51 | }; |
| nucho | 0:77afd7560544 | 52 | |
| nucho | 0:77afd7560544 | 53 | } |
| nucho | 0:77afd7560544 | 54 | #endif |