Pipe Inpection Robot / Mbed OS capstone_finish

capstone_finish

Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/Imu.h@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_Imu_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_Imu_h
Jeonghoon 3:2a3664dc6634 3
Jeonghoon 3:2a3664dc6634 4 #include <stdint.h>
Jeonghoon 3:2a3664dc6634 5 #include <string.h>
Jeonghoon 3:2a3664dc6634 6 #include <stdlib.h>
Jeonghoon 3:2a3664dc6634 7 #include "ros/msg.h"
Jeonghoon 3:2a3664dc6634 8 #include "std_msgs/Header.h"
Jeonghoon 3:2a3664dc6634 9 #include "geometry_msgs/Quaternion.h"
Jeonghoon 3:2a3664dc6634 10 #include "geometry_msgs/Vector3.h"
Jeonghoon 3:2a3664dc6634 11
Jeonghoon 3:2a3664dc6634 12 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 13 {
Jeonghoon 3:2a3664dc6634 14
Jeonghoon 3:2a3664dc6634 15 class Imu : public ros::Msg
Jeonghoon 3:2a3664dc6634 16 {
Jeonghoon 3:2a3664dc6634 17 public:
Jeonghoon 3:2a3664dc6634 18 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 19 _header_type header;
Jeonghoon 3:2a3664dc6634 20 typedef geometry_msgs::Quaternion _orientation_type;
Jeonghoon 3:2a3664dc6634 21 _orientation_type orientation;
Jeonghoon 3:2a3664dc6634 22 double orientation_covariance[9];
Jeonghoon 3:2a3664dc6634 23 typedef geometry_msgs::Vector3 _angular_velocity_type;
Jeonghoon 3:2a3664dc6634 24 _angular_velocity_type angular_velocity;
Jeonghoon 3:2a3664dc6634 25 double angular_velocity_covariance[9];
Jeonghoon 3:2a3664dc6634 26 typedef geometry_msgs::Vector3 _linear_acceleration_type;
Jeonghoon 3:2a3664dc6634 27 _linear_acceleration_type linear_acceleration;
Jeonghoon 3:2a3664dc6634 28 double linear_acceleration_covariance[9];
Jeonghoon 3:2a3664dc6634 29
Jeonghoon 3:2a3664dc6634 30 Imu():
Jeonghoon 3:2a3664dc6634 31 header(),
Jeonghoon 3:2a3664dc6634 32 orientation(),
Jeonghoon 3:2a3664dc6634 33 orientation_covariance(),
Jeonghoon 3:2a3664dc6634 34 angular_velocity(),
Jeonghoon 3:2a3664dc6634 35 angular_velocity_covariance(),
Jeonghoon 3:2a3664dc6634 36 linear_acceleration(),
Jeonghoon 3:2a3664dc6634 37 linear_acceleration_covariance()
Jeonghoon 3:2a3664dc6634 38 {
Jeonghoon 3:2a3664dc6634 39 }
Jeonghoon 3:2a3664dc6634 40
Jeonghoon 3:2a3664dc6634 41 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 42 {
Jeonghoon 3:2a3664dc6634 43 int offset = 0;
Jeonghoon 3:2a3664dc6634 44 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 45 offset += this->orientation.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 46 for( uint32_t i = 0; i < 9; i++){
Jeonghoon 3:2a3664dc6634 47 union {
Jeonghoon 3:2a3664dc6634 48 double real;
Jeonghoon 3:2a3664dc6634 49 uint64_t base;
Jeonghoon 3:2a3664dc6634 50 } u_orientation_covariancei;
Jeonghoon 3:2a3664dc6634 51 u_orientation_covariancei.real = this->orientation_covariance[i];
Jeonghoon 3:2a3664dc6634 52 *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 53 *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 54 *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 55 *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 56 *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
Jeonghoon 3:2a3664dc6634 57 *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
Jeonghoon 3:2a3664dc6634 58 *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
Jeonghoon 3:2a3664dc6634 59 *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
Jeonghoon 3:2a3664dc6634 60 offset += sizeof(this->orientation_covariance[i]);
Jeonghoon 3:2a3664dc6634 61 }
Jeonghoon 3:2a3664dc6634 62 offset += this->angular_velocity.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 63 for( uint32_t i = 0; i < 9; i++){
Jeonghoon 3:2a3664dc6634 64 union {
Jeonghoon 3:2a3664dc6634 65 double real;
Jeonghoon 3:2a3664dc6634 66 uint64_t base;
Jeonghoon 3:2a3664dc6634 67 } u_angular_velocity_covariancei;
Jeonghoon 3:2a3664dc6634 68 u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
Jeonghoon 3:2a3664dc6634 69 *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 70 *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 71 *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 72 *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 73 *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
Jeonghoon 3:2a3664dc6634 74 *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
Jeonghoon 3:2a3664dc6634 75 *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
Jeonghoon 3:2a3664dc6634 76 *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
Jeonghoon 3:2a3664dc6634 77 offset += sizeof(this->angular_velocity_covariance[i]);
Jeonghoon 3:2a3664dc6634 78 }
Jeonghoon 3:2a3664dc6634 79 offset += this->linear_acceleration.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 80 for( uint32_t i = 0; i < 9; i++){
Jeonghoon 3:2a3664dc6634 81 union {
Jeonghoon 3:2a3664dc6634 82 double real;
Jeonghoon 3:2a3664dc6634 83 uint64_t base;
Jeonghoon 3:2a3664dc6634 84 } u_linear_acceleration_covariancei;
Jeonghoon 3:2a3664dc6634 85 u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
Jeonghoon 3:2a3664dc6634 86 *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 87 *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 88 *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 89 *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 90 *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
Jeonghoon 3:2a3664dc6634 91 *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
Jeonghoon 3:2a3664dc6634 92 *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
Jeonghoon 3:2a3664dc6634 93 *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
Jeonghoon 3:2a3664dc6634 94 offset += sizeof(this->linear_acceleration_covariance[i]);
Jeonghoon 3:2a3664dc6634 95 }
Jeonghoon 3:2a3664dc6634 96 return offset;
Jeonghoon 3:2a3664dc6634 97 }
Jeonghoon 3:2a3664dc6634 98
Jeonghoon 3:2a3664dc6634 99 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 100 {
Jeonghoon 3:2a3664dc6634 101 int offset = 0;
Jeonghoon 3:2a3664dc6634 102 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 103 offset += this->orientation.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 104 for( uint32_t i = 0; i < 9; i++){
Jeonghoon 3:2a3664dc6634 105 union {
Jeonghoon 3:2a3664dc6634 106 double real;
Jeonghoon 3:2a3664dc6634 107 uint64_t base;
Jeonghoon 3:2a3664dc6634 108 } u_orientation_covariancei;
Jeonghoon 3:2a3664dc6634 109 u_orientation_covariancei.base = 0;
Jeonghoon 3:2a3664dc6634 110 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 111 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 112 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 113 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 114 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Jeonghoon 3:2a3664dc6634 115 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Jeonghoon 3:2a3664dc6634 116 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Jeonghoon 3:2a3664dc6634 117 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Jeonghoon 3:2a3664dc6634 118 this->orientation_covariance[i] = u_orientation_covariancei.real;
Jeonghoon 3:2a3664dc6634 119 offset += sizeof(this->orientation_covariance[i]);
Jeonghoon 3:2a3664dc6634 120 }
Jeonghoon 3:2a3664dc6634 121 offset += this->angular_velocity.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 122 for( uint32_t i = 0; i < 9; i++){
Jeonghoon 3:2a3664dc6634 123 union {
Jeonghoon 3:2a3664dc6634 124 double real;
Jeonghoon 3:2a3664dc6634 125 uint64_t base;
Jeonghoon 3:2a3664dc6634 126 } u_angular_velocity_covariancei;
Jeonghoon 3:2a3664dc6634 127 u_angular_velocity_covariancei.base = 0;
Jeonghoon 3:2a3664dc6634 128 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 129 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 130 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 131 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 132 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Jeonghoon 3:2a3664dc6634 133 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Jeonghoon 3:2a3664dc6634 134 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Jeonghoon 3:2a3664dc6634 135 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Jeonghoon 3:2a3664dc6634 136 this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
Jeonghoon 3:2a3664dc6634 137 offset += sizeof(this->angular_velocity_covariance[i]);
Jeonghoon 3:2a3664dc6634 138 }
Jeonghoon 3:2a3664dc6634 139 offset += this->linear_acceleration.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 140 for( uint32_t i = 0; i < 9; i++){
Jeonghoon 3:2a3664dc6634 141 union {
Jeonghoon 3:2a3664dc6634 142 double real;
Jeonghoon 3:2a3664dc6634 143 uint64_t base;
Jeonghoon 3:2a3664dc6634 144 } u_linear_acceleration_covariancei;
Jeonghoon 3:2a3664dc6634 145 u_linear_acceleration_covariancei.base = 0;
Jeonghoon 3:2a3664dc6634 146 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 3:2a3664dc6634 147 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 148 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 149 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 150 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Jeonghoon 3:2a3664dc6634 151 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Jeonghoon 3:2a3664dc6634 152 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Jeonghoon 3:2a3664dc6634 153 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Jeonghoon 3:2a3664dc6634 154 this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
Jeonghoon 3:2a3664dc6634 155 offset += sizeof(this->linear_acceleration_covariance[i]);
Jeonghoon 3:2a3664dc6634 156 }
Jeonghoon 3:2a3664dc6634 157 return offset;
Jeonghoon 3:2a3664dc6634 158 }
Jeonghoon 3:2a3664dc6634 159
Jeonghoon 3:2a3664dc6634 160 const char * getType(){ return "sensor_msgs/Imu"; };
Jeonghoon 3:2a3664dc6634 161 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
Jeonghoon 3:2a3664dc6634 162
Jeonghoon 3:2a3664dc6634 163 };
Jeonghoon 3:2a3664dc6634 164
Jeonghoon 3:2a3664dc6634 165 }
Jeonghoon 3:2a3664dc6634 166 #endif