Jesi Miranda
/
ros_lib_kinetic_jesi
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Imu.h
00001 #ifndef _ROS_sensor_msgs_Imu_h 00002 #define _ROS_sensor_msgs_Imu_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 #include "geometry_msgs/Quaternion.h" 00010 #include "geometry_msgs/Vector3.h" 00011 00012 namespace sensor_msgs 00013 { 00014 00015 class Imu : public ros::Msg 00016 { 00017 public: 00018 typedef std_msgs::Header _header_type; 00019 _header_type header; 00020 typedef geometry_msgs::Quaternion _orientation_type; 00021 _orientation_type orientation; 00022 double orientation_covariance[9]; 00023 typedef geometry_msgs::Vector3 _angular_velocity_type; 00024 _angular_velocity_type angular_velocity; 00025 double angular_velocity_covariance[9]; 00026 typedef geometry_msgs::Vector3 _linear_acceleration_type; 00027 _linear_acceleration_type linear_acceleration; 00028 double linear_acceleration_covariance[9]; 00029 00030 Imu(): 00031 header(), 00032 orientation(), 00033 orientation_covariance(), 00034 angular_velocity(), 00035 angular_velocity_covariance(), 00036 linear_acceleration(), 00037 linear_acceleration_covariance() 00038 { 00039 } 00040 00041 virtual int serialize(unsigned char *outbuffer) const 00042 { 00043 int offset = 0; 00044 offset += this->header.serialize(outbuffer + offset); 00045 offset += this->orientation.serialize(outbuffer + offset); 00046 for( uint32_t i = 0; i < 9; i++){ 00047 union { 00048 double real; 00049 uint64_t base; 00050 } u_orientation_covariancei; 00051 u_orientation_covariancei.real = this->orientation_covariance[i]; 00052 *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF; 00053 *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF; 00054 *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF; 00055 *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF; 00056 *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF; 00057 *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF; 00058 *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF; 00059 *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF; 00060 offset += sizeof(this->orientation_covariance[i]); 00061 } 00062 offset += this->angular_velocity.serialize(outbuffer + offset); 00063 for( uint32_t i = 0; i < 9; i++){ 00064 union { 00065 double real; 00066 uint64_t base; 00067 } u_angular_velocity_covariancei; 00068 u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i]; 00069 *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF; 00070 *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF; 00071 *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF; 00072 *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF; 00073 *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF; 00074 *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF; 00075 *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF; 00076 *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF; 00077 offset += sizeof(this->angular_velocity_covariance[i]); 00078 } 00079 offset += this->linear_acceleration.serialize(outbuffer + offset); 00080 for( uint32_t i = 0; i < 9; i++){ 00081 union { 00082 double real; 00083 uint64_t base; 00084 } u_linear_acceleration_covariancei; 00085 u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i]; 00086 *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF; 00087 *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF; 00088 *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF; 00089 *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF; 00090 *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF; 00091 *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF; 00092 *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF; 00093 *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF; 00094 offset += sizeof(this->linear_acceleration_covariance[i]); 00095 } 00096 return offset; 00097 } 00098 00099 virtual int deserialize(unsigned char *inbuffer) 00100 { 00101 int offset = 0; 00102 offset += this->header.deserialize(inbuffer + offset); 00103 offset += this->orientation.deserialize(inbuffer + offset); 00104 for( uint32_t i = 0; i < 9; i++){ 00105 union { 00106 double real; 00107 uint64_t base; 00108 } u_orientation_covariancei; 00109 u_orientation_covariancei.base = 0; 00110 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00111 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00112 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00113 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00114 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00115 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00116 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00117 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00118 this->orientation_covariance[i] = u_orientation_covariancei.real; 00119 offset += sizeof(this->orientation_covariance[i]); 00120 } 00121 offset += this->angular_velocity.deserialize(inbuffer + offset); 00122 for( uint32_t i = 0; i < 9; i++){ 00123 union { 00124 double real; 00125 uint64_t base; 00126 } u_angular_velocity_covariancei; 00127 u_angular_velocity_covariancei.base = 0; 00128 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00129 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00130 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00131 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00132 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00133 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00134 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00135 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00136 this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real; 00137 offset += sizeof(this->angular_velocity_covariance[i]); 00138 } 00139 offset += this->linear_acceleration.deserialize(inbuffer + offset); 00140 for( uint32_t i = 0; i < 9; i++){ 00141 union { 00142 double real; 00143 uint64_t base; 00144 } u_linear_acceleration_covariancei; 00145 u_linear_acceleration_covariancei.base = 0; 00146 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); 00147 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); 00148 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); 00149 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); 00150 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); 00151 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); 00152 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); 00153 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); 00154 this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real; 00155 offset += sizeof(this->linear_acceleration_covariance[i]); 00156 } 00157 return offset; 00158 } 00159 00160 const char * getType(){ return "sensor_msgs/Imu"; }; 00161 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; }; 00162 00163 }; 00164 00165 } 00166 #endif
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