TFMessage.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
// This is an automatically generated file.
 
// Generated from the following "tf2_msgs/TFMessage" msg definition:
//   geometry_msgs/TransformStamped[] transforms
// Instances of this class can be read and written with YARP ports,
// using a ROS-compatible format.
 
#ifndef YARP_ROSMSG_tf2_msgs_TFMessage_h
#define YARP_ROSMSG_tf2_msgs_TFMessage_h
 
#include <yarp/os/Wire.h>
#include <yarp/os/Type.h>
#include <yarp/os/idl/WireTypes.h>
#include <string>
#include <vector>
#include <yarp/rosmsg/geometry_msgs/TransformStamped.h>
 
namespace yarp {
namespace rosmsg {
namespace tf2_msgs {
 
class TFMessage : public yarp::os::idl::WirePortable
{
public:
    std::vector<yarp::rosmsg::geometry_msgs::TransformStamped> transforms;
 
    TFMessage() :
            transforms()
    {
    }
 
    void clear()
    {
        // *** transforms ***
        transforms.clear();
    }
 
    bool readBare(yarp::os::ConnectionReader& connection) override
    {
        // *** transforms ***
        int len = connection.expectInt32();
        transforms.resize(len);
        for (int i=0; i<len; i++) {
            if (!transforms[i].read(connection)) {
                return false;
            }
        }
 
        return !connection.isError();
    }
 
    bool readBottle(yarp::os::ConnectionReader& connection) override
    {
        connection.convertTextMode();
        yarp::os::idl::WireReader reader(connection);
        if (!reader.readListHeader(1)) {
            return false;
        }
 
        // *** transforms ***
        if (connection.expectInt32() != BOTTLE_TAG_LIST) {
            return false;
        }
        int len = connection.expectInt32();
        transforms.resize(len);
        for (int i=0; i<len; i++) {
            if (!transforms[i].read(connection)) {
                return false;
            }
        }
 
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::read;
    bool read(yarp::os::ConnectionReader& connection) override
    {
        return (connection.isBareMode() ? readBare(connection)
                                        : readBottle(connection));
    }
 
    bool writeBare(yarp::os::ConnectionWriter& connection) const override
    {
        // *** transforms ***
        connection.appendInt32(transforms.size());
        for (size_t i=0; i<transforms.size(); i++) {
            if (!transforms[i].write(connection)) {
                return false;
            }
        }
 
        return !connection.isError();
    }
 
    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
    {
        connection.appendInt32(BOTTLE_TAG_LIST);
        connection.appendInt32(1);
 
        // *** transforms ***
        connection.appendInt32(BOTTLE_TAG_LIST);
        connection.appendInt32(transforms.size());
        for (size_t i=0; i<transforms.size(); i++) {
            if (!transforms[i].write(connection)) {
                return false;
            }
        }
 
        connection.convertTextMode();
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::write;
    bool write(yarp::os::ConnectionWriter& connection) const override
    {
        return (connection.isBareMode() ? writeBare(connection)
                                        : writeBottle(connection));
    }
 
    // This class will serialize ROS style or YARP style depending on protocol.
    // If you need to force a serialization style, use one of these classes:
    typedef yarp::os::idl::BareStyle<yarp::rosmsg::tf2_msgs::TFMessage> rosStyle;
    typedef yarp::os::idl::BottleStyle<yarp::rosmsg::tf2_msgs::TFMessage> bottleStyle;
 
    // The name for this message, ROS will need this
    static constexpr const char* typeName = "tf2_msgs/TFMessage";
 
    // The checksum for this message, ROS will need this
    static constexpr const char* typeChecksum = "94810edda583a504dfda3829e70d7eec";
 
    // The source text for this message, ROS will need this
    static constexpr const char* typeText = "\
geometry_msgs/TransformStamped[] transforms\n\
\n\
================================================================================\n\
MSG: geometry_msgs/TransformStamped\n\
# This expresses a transform from coordinate frame header.frame_id\n\
# to the coordinate frame child_frame_id\n\
#\n\
# This message is mostly used by the \n\
# <a href=\"http://wiki.ros.org/tf\">tf</a> package. \n\
# See its documentation for more information.\n\
\n\
Header header\n\
string child_frame_id # the frame id of the child frame\n\
Transform transform\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Transform\n\
# This represents the transform between two coordinate frames in free space.\n\
\n\
Vector3 translation\n\
Quaternion rotation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
# It is only meant to represent a direction. Therefore, it does not\n\
# make sense to apply a translation to it (e.g., when applying a \n\
# generic rigid transformation to a Vector3, tf2 will only apply the\n\
# rotation). If you want your data to be translatable too, use the\n\
# geometry_msgs/Point message instead.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
";
 
    yarp::os::Type getType() const override
    {
        yarp::os::Type typ = yarp::os::Type::byName(typeName, typeName);
        typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
        typ.addProperty("message_definition", yarp::os::Value(typeText));
        return typ;
    }
};
 
} // namespace tf2_msgs
} // namespace rosmsg
} // namespace yarp
 
#endif // YARP_ROSMSG_tf2_msgs_TFMessage_h