00001 #ifndef ros_tf_tfMessage_h 00002 #define ros_tf_tfMessage_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "../ros/msg.h" 00008 #include "geometry_msgs/TransformStamped.h" 00009 00010 namespace tf 00011 { 00012 00013 class tfMessage : public ros::Msg 00014 { 00015 public: 00016 unsigned char transforms_length; 00017 geometry_msgs::TransformStamped st_transforms; 00018 geometry_msgs::TransformStamped * transforms; 00019 00020 virtual int serialize(unsigned char *outbuffer) 00021 { 00022 int offset = 0; 00023 *(outbuffer + offset++) = transforms_length; 00024 *(outbuffer + offset++) = 0; 00025 *(outbuffer + offset++) = 0; 00026 *(outbuffer + offset++) = 0; 00027 for( unsigned char i = 0; i < transforms_length; i++){ 00028 offset += this->transforms[i].serialize(outbuffer + offset); 00029 } 00030 return offset; 00031 } 00032 00033 virtual int deserialize(unsigned char *inbuffer) 00034 { 00035 int offset = 0; 00036 unsigned char transforms_lengthT = *(inbuffer + offset++); 00037 if(transforms_lengthT > transforms_length) 00038 this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); 00039 offset += 3; 00040 transforms_length = transforms_lengthT; 00041 for( unsigned char i = 0; i < transforms_length; i++){ 00042 offset += this->st_transforms.deserialize(inbuffer + offset); 00043 memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); 00044 } 00045 return offset; 00046 } 00047 00048 const char * getType(){ return "tf/tfMessage"; }; 00049 00050 }; 00051 00052 } 00053 #endif
