TFMessage.cpp

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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*!
 * @file TFMessage.cpp
 * This source file contains the definition of the described types in the IDL file.
 *
 * This file was generated by the tool gen.
 */
 
#ifdef _WIN32
// Remove linker warning LNK4221 on Visual Studio
namespace {
char dummy;
}  // namespace
#endif  // _WIN32
 
#include "TFMessage.h"
#include <fastcdr/Cdr.h>
 
#include <fastcdr/exceptions/BadParamException.h>
using namespace eprosima::fastcdr::exception;
 
#include <utility>
 
#define geometry_msgs_msg_Vector3_max_cdr_typesize 24ULL;
#define geometry_msgs_msg_Transform_max_cdr_typesize 56ULL;
#define tf2_msgs_msg_TFMessage_max_cdr_typesize 58408ULL;
#define std_msgs_msg_Time_max_cdr_typesize 8ULL;
#define geometry_msgs_msg_TransformStamped_max_cdr_typesize 584ULL;
#define geometry_msgs_msg_Quaternion_max_cdr_typesize 32ULL;
#define std_msgs_msg_Header_max_cdr_typesize 268ULL;
#define geometry_msgs_msg_Vector3_max_key_cdr_typesize 0ULL;
#define geometry_msgs_msg_Transform_max_key_cdr_typesize 0ULL;
#define tf2_msgs_msg_TFMessage_max_key_cdr_typesize 0ULL;
#define std_msgs_msg_Time_max_key_cdr_typesize 0ULL;
#define geometry_msgs_msg_TransformStamped_max_key_cdr_typesize 0ULL;
#define geometry_msgs_msg_Quaternion_max_key_cdr_typesize 0ULL;
#define std_msgs_msg_Header_max_key_cdr_typesize 0ULL;
 
// 默认构造函数，用于创建一个TFMessage类的实例，函数体为空，可能在对象初始化时做一些默认的设置（此处无具体操作）
tf2_msgs::msg::TFMessage::TFMessage()
{
}
 
// 析构函数，用于在对象销毁时执行清理相关的操作，函数体为空，可能此对象销毁时无需额外手动释放资源（此处无具体操作）
tf2_msgs::msg::TFMessage::~TFMessage()
{
}
 
// 拷贝构造函数，接受一个同类型的常量引用x，用于根据已有的TFMessage对象x来创建一个新的TFMessage对象，
// 实现了将x对象中的m_transforms成员变量的值复制到新创建对象的对应成员变量中
tf2_msgs::msg::TFMessage::TFMessage(
        const TFMessage& x)
{
    m_transforms = x.m_transforms;
}
 
// 移动构造函数，接受一个同类型的右值引用x，用于通过“窃取”x对象的资源（这里是m_transforms）的方式来高效地创建新对象，
// 使用std::move将x对象的m_transforms成员转移到新对象中，避免不必要的拷贝开销
tf2_msgs::msg::TFMessage::TFMessage(
        TFMessage&& x) noexcept
{
    m_transforms = std::move(x.m_transforms);
}
 
// 拷贝赋值运算符重载，接受一个同类型的常量引用x，用于将x对象的状态复制到当前对象，
// 即将x对象的m_transforms成员变量的值赋给当前对象的对应成员变量，并返回当前对象的引用，以支持连续赋值操作
tf2_msgs::msg::TFMessage& tf2_msgs::msg::TFMessage::operator =(
        const TFMessage& x)
{
    m_transforms = x.m_transforms;
 
    return *this;
}
 
// 移动赋值运算符重载，接受一个同类型的右值引用x，用于将x对象的资源（这里是m_transforms）转移到当前对象，
// 避免不必要的拷贝开销，然后返回当前对象的引用，以支持连续赋值操作
tf2_msgs::msg::TFMessage& tf2_msgs::msg::TFMessage::operator =(
        TFMessage&& x) noexcept
{
    m_transforms = std::move(x.m_transforms);
 
    return *this;
}
 
// 相等运算符重载，接受一个同类型的常量引用x，用于比较当前对象和x对象是否相等，
// 通过比较它们的m_transforms成员变量是否相等来判断整个对象是否相等，返回比较结果（true或false）
bool tf2_msgs::msg::TFMessage::operator ==(
        const TFMessage& x) const
{
    return (m_transforms == x.m_transforms);
}
// 不等运算符重载，通过调用相等运算符（!(*this == x)）取反的方式来判断当前对象和x对象是否不相等，返回相应的布尔值
bool tf2_msgs::msg::TFMessage::operator !=(
        const TFMessage& x) const
{
    return !(*this == x);
}
 
// 获取最大的CDR序列化尺寸，current_alignment参数表示当前的对齐情况，
// 这里将current_alignment参数强制转换为void（说明此函数可能没实际用到这个参数），直接返回一个预定义的最大CDR类型尺寸
size_t tf2_msgs::msg::TFMessage::getMaxCdrSerializedSize(
        size_t current_alignment)
{
    static_cast<void>(current_alignment);
    return tf2_msgs_msg_TFMessage_max_cdr_typesize;
}
 
// 获取给定TFMessage对象的CDR序列化尺寸，data参数是要获取序列化尺寸的对象，current_alignment是当前的对齐情况
// 首先记录初始的对齐情况，然后进行一些与对齐和计算每个TransformStamped对象序列化尺寸相关的操作，
// 最后返回计算得到的序列化尺寸（当前对齐减去初始对齐得到实际的尺寸增量）
size_t tf2_msgs::msg::TFMessage::getCdrSerializedSize(
        const tf2_msgs::msg::TFMessage& data,
        size_t current_alignment)
{
    size_t initial_alignment = current_alignment;
    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
 
    for(size_t a = 0; a < data.transforms().size(); ++a)
    {
        current_alignment += geometry_msgs::msg::TransformStamped::getCdrSerializedSize(data.transforms().at(a), current_alignment);
    }
 
    return current_alignment - initial_alignment;
}
 
// 将对象序列化到给定的eprosima::fastcdr::Cdr对象scdr中，通过将成员变量m_transforms序列化到scdr里来实现整个对象的序列化操作
void tf2_msgs::msg::TFMessage::serialize(
        eprosima::fastcdr::Cdr& scdr) const
{
    scdr << m_transforms;
}
 
// 从给定的eprosima::fastcdr::Cdr对象dcdr中反序列化数据到当前对象，通过从dcdr中读取数据来填充成员变量m_transforms，从而实现对象的重建
void tf2_msgs::msg::TFMessage::deserialize(
        eprosima::fastcdr::Cdr& dcdr)
{
    dcdr >> m_transforms;
}
 
/*!
 * @brief This function copies the value in member transforms
 * @param _transforms New value to be copied in member transforms
 */
void tf2_msgs::msg::TFMessage::transforms(
        const std::vector<geometry_msgs::msg::TransformStamped>& _transforms)
{
    m_transforms = _transforms;
}
 
/*!
 * @brief This function moves the value in member transforms
 * @param _transforms New value to be moved in member transforms
 */
void tf2_msgs::msg::TFMessage::transforms(
        std::vector<geometry_msgs::msg::TransformStamped>&& _transforms)
{
    m_transforms = std::move(_transforms);
}
 
/*!
 * @brief This function returns a constant reference to member transforms
 * @return Constant reference to member transforms
 */
const std::vector<geometry_msgs::msg::TransformStamped>& tf2_msgs::msg::TFMessage::transforms() const
{
    return m_transforms;
}
 
/*!
 * @brief This function returns a reference to member transforms
 * @return Reference to member transforms
 */
std::vector<geometry_msgs::msg::TransformStamped>& tf2_msgs::msg::TFMessage::transforms()
{
    return m_transforms;
}
 
size_t tf2_msgs::msg::TFMessage::getKeyMaxCdrSerializedSize(
        size_t current_alignment)
{
    static_cast<void>(current_alignment);
    return tf2_msgs_msg_TFMessage_max_key_cdr_typesize;
}
 
bool tf2_msgs::msg::TFMessage::isKeyDefined()
{
    return false;
}
 
void tf2_msgs::msg::TFMessage::serializeKey(
        eprosima::fastcdr::Cdr& scdr) const
{
    (void) scdr;
}