serialize_msg.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
38 #define MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
39 
40 #include <ros/ros.h>
41 
42 namespace moveit
43 {
44 namespace py_bindings_tools
45 {
47 template <typename T>
48 std::string serializeMsg(const T& msg)
49 {
50  // we use the fact char is same size as uint8_t;
51  assert(sizeof(uint8_t) == sizeof(char));
52  std::size_t size = ros::serialization::serializationLength(msg);
53  std::string result(size, '\0');
54  if (size)
55  {
56  // we convert the message into a string because that is easy to sent back & forth with Python
57  // This is fine since C0x because &string[0] is guaranteed to point to a contiguous block of memory
58  ros::serialization::OStream stream_arg(reinterpret_cast<uint8_t*>(&result[0]), size);
59  ros::serialization::serialize(stream_arg, msg);
60  }
61  return result;
62 }
63 
65 template <typename T>
66 void deserializeMsg(const std::string& data, T& msg)
67 {
68  assert(sizeof(uint8_t) == sizeof(char));
69  ros::serialization::IStream stream_arg(const_cast<uint8_t*>(reinterpret_cast<const uint8_t*>(&data[0])), data.size());
70  ros::serialization::deserialize(stream_arg, msg);
71 }
72 }
73 }
74 
75 #endif
void serialize(Stream &stream, const T &t)
uint32_t serializationLength(const T &t)
std::string serializeMsg(const T &msg)
Convert a ROS message to a string.
Definition: serialize_msg.h:48
void deserialize(Stream &stream, T &t)
void deserializeMsg(const std::string &data, T &msg)
Convert a string to a ROS message.
Definition: serialize_msg.h:66


planning_interface
Author(s): Ioan Sucan
autogenerated on Mon Jan 15 2018 03:52:20