Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

sensor_msgs/Imu.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_sensor_msgs_Imu_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_sensor_msgs_Imu_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9 #include "geometry_msgs/Quaternion.h"
akashvibhute 0:30537dec6e0b 10 #include "geometry_msgs/Vector3.h"
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 namespace sensor_msgs
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14
akashvibhute 0:30537dec6e0b 15 class Imu : public ros::Msg
akashvibhute 0:30537dec6e0b 16 {
akashvibhute 0:30537dec6e0b 17 public:
akashvibhute 0:30537dec6e0b 18 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 19 geometry_msgs::Quaternion orientation;
akashvibhute 0:30537dec6e0b 20 float orientation_covariance[9];
akashvibhute 0:30537dec6e0b 21 geometry_msgs::Vector3 angular_velocity;
akashvibhute 0:30537dec6e0b 22 float angular_velocity_covariance[9];
akashvibhute 0:30537dec6e0b 23 geometry_msgs::Vector3 linear_acceleration;
akashvibhute 0:30537dec6e0b 24 float linear_acceleration_covariance[9];
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 27 {
akashvibhute 0:30537dec6e0b 28 int offset = 0;
akashvibhute 0:30537dec6e0b 29 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 30 offset += this->orientation.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 31 unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;
akashvibhute 0:30537dec6e0b 32 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 33 int32_t * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]);
akashvibhute 0:30537dec6e0b 34 int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);
akashvibhute 0:30537dec6e0b 35 if(exp_orientation_covariancei != 0)
akashvibhute 0:30537dec6e0b 36 exp_orientation_covariancei += 1023-127;
akashvibhute 0:30537dec6e0b 37 int32_t sig_orientation_covariancei = *val_orientation_covariancei;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F);
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 46 if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 47 }
akashvibhute 0:30537dec6e0b 48 offset += this->angular_velocity.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 49 unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;
akashvibhute 0:30537dec6e0b 50 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 51 int32_t * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]);
akashvibhute 0:30537dec6e0b 52 int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);
akashvibhute 0:30537dec6e0b 53 if(exp_angular_velocity_covariancei != 0)
akashvibhute 0:30537dec6e0b 54 exp_angular_velocity_covariancei += 1023-127;
akashvibhute 0:30537dec6e0b 55 int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F);
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 64 if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 65 }
akashvibhute 0:30537dec6e0b 66 offset += this->linear_acceleration.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 67 unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;
akashvibhute 0:30537dec6e0b 68 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 69 int32_t * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]);
akashvibhute 0:30537dec6e0b 70 int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);
akashvibhute 0:30537dec6e0b 71 if(exp_linear_acceleration_covariancei != 0)
akashvibhute 0:30537dec6e0b 72 exp_linear_acceleration_covariancei += 1023-127;
akashvibhute 0:30537dec6e0b 73 int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 77 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff;
akashvibhute 0:30537dec6e0b 78 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff;
akashvibhute 0:30537dec6e0b 79 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff;
akashvibhute 0:30537dec6e0b 80 *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F);
akashvibhute 0:30537dec6e0b 81 *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 82 if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 83 }
akashvibhute 0:30537dec6e0b 84 return offset;
akashvibhute 0:30537dec6e0b 85 }
akashvibhute 0:30537dec6e0b 86
akashvibhute 0:30537dec6e0b 87 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 88 {
akashvibhute 0:30537dec6e0b 89 int offset = 0;
akashvibhute 0:30537dec6e0b 90 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 91 offset += this->orientation.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 92 uint8_t * orientation_covariance_val = (uint8_t*) this->orientation_covariance;
akashvibhute 0:30537dec6e0b 93 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 94 uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]);
akashvibhute 0:30537dec6e0b 95 offset += 3;
akashvibhute 0:30537dec6e0b 96 *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 97 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 98 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 99 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 100 uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 101 exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 102 if(exp_orientation_covariancei !=0)
akashvibhute 0:30537dec6e0b 103 *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 104 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i];
akashvibhute 0:30537dec6e0b 105 }
akashvibhute 0:30537dec6e0b 106 offset += this->angular_velocity.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 107 uint8_t * angular_velocity_covariance_val = (uint8_t*) this->angular_velocity_covariance;
akashvibhute 0:30537dec6e0b 108 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 109 uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]);
akashvibhute 0:30537dec6e0b 110 offset += 3;
akashvibhute 0:30537dec6e0b 111 *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 112 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 113 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 114 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 115 uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 116 exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 117 if(exp_angular_velocity_covariancei !=0)
akashvibhute 0:30537dec6e0b 118 *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 119 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i];
akashvibhute 0:30537dec6e0b 120 }
akashvibhute 0:30537dec6e0b 121 offset += this->linear_acceleration.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 122 uint8_t * linear_acceleration_covariance_val = (uint8_t*) this->linear_acceleration_covariance;
akashvibhute 0:30537dec6e0b 123 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 124 uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]);
akashvibhute 0:30537dec6e0b 125 offset += 3;
akashvibhute 0:30537dec6e0b 126 *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 127 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 128 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 129 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 130 uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 131 exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 132 if(exp_linear_acceleration_covariancei !=0)
akashvibhute 0:30537dec6e0b 133 *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 134 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i];
akashvibhute 0:30537dec6e0b 135 }
akashvibhute 0:30537dec6e0b 136 return offset;
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138
akashvibhute 0:30537dec6e0b 139 virtual const char * getType(){ return "sensor_msgs/Imu"; };
akashvibhute 0:30537dec6e0b 140 virtual const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
akashvibhute 0:30537dec6e0b 141
akashvibhute 0:30537dec6e0b 142 };
akashvibhute 0:30537dec6e0b 143
akashvibhute 0:30537dec6e0b 144 }
akashvibhute 0:30537dec6e0b 145 #endif