serialize_msg.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
00038 #define MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
00039 
00040 #include <ros/ros.h>
00041 
00042 namespace moveit
00043 {
00044 namespace py_bindings_tools
00045 {
00047 template <typename T>
00048 std::string serializeMsg(const T& msg)
00049 {
00050   // we use the fact char is same size as uint8_t;
00051   assert(sizeof(uint8_t) == sizeof(char));
00052   std::size_t size = ros::serialization::serializationLength(msg);
00053   std::string result(size, '\0');
00054   if (size)
00055   {
00056     // we convert the message into a string because that is easy to sent back & forth with Python
00057     // This is fine since C0x because &string[0] is guaranteed to point to a contiguous block of memory
00058     ros::serialization::OStream stream_arg(reinterpret_cast<uint8_t*>(&result[0]), size);
00059     ros::serialization::serialize(stream_arg, msg);
00060   }
00061   return result;
00062 }
00063 
00065 template <typename T>
00066 void deserializeMsg(const std::string& data, T& msg)
00067 {
00068   assert(sizeof(uint8_t) == sizeof(char));
00069   ros::serialization::IStream stream_arg(const_cast<uint8_t*>(reinterpret_cast<const uint8_t*>(&data[0])), data.size());
00070   ros::serialization::deserialize(stream_arg, msg);
00071 }
00072 }
00073 }
00074 
00075 #endif


planning_interface
Author(s): Ioan Sucan
autogenerated on Wed Jun 19 2019 19:24:53