From a04ed763d4aea644891077ff6ee81963106a2dc1 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@apache.org>
Date: Thu, 12 Dec 2013 14:55:40 +0100
Subject: [PATCH] Added pipeline diagrams to text

---
 articles/serialization.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/articles/serialization.md b/articles/serialization.md
index 8735f156b..3329e5fd8 100644
--- a/articles/serialization.md
+++ b/articles/serialization.md
@@ -79,15 +79,20 @@ TODO add more benefits from whiteboard picture Serializatoin Pluggability
 
 The message used by the userland code stores its data directly. For each communication channel the message data is then copied into the serialization specific message representation. The serialization library will perform the serialization into the wire format from there.
 
+<img src="{{ site.baseurl }}/img/serialization_pipeline_a.png"/>
+
 #### Pipeline B:
 
 The message fields can be serialized directly into the wire format using custom code. While this avoid the extra data copy it requires a significant effort for implementing the custom serialization routine.
 
+<img src="{{ site.baseurl }}/img/serialization_pipeline_b.png"/>
+
 #### Pipeline C:
 
 The message delegates the data storage to an internally held storage backend, e.g. the serialization library specific message representation. Since the data is stored directly in the serialization library specific representation copying the data before serializing it is not necessary anymore.
 This assumes that the API of the serialization library specific representation can be wrapped inside the ROS message API. [See Open Issues → Variances in field types]
 
+i<img src="{{ site.baseurl }}/img/serialization_pipeline_c.png"/>
 
 ### Select message storage