Irfan Tito Kurniawan / ros_lib

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ros_lib/sensor_msgs/Imu.h@0:8f3710bfd298, 2020-09-02 (annotated)

Committer:
irfantitok
Date:
Wed Sep 02 13:51:31 2020 +0000
Revision:
0:8f3710bfd298
Resolved round not found

Who changed what in which revision?

UserRevisionLine numberNew contents of line
irfantitok 0:8f3710bfd298 1 #ifndef _ROS_sensor_msgs_Imu_h
irfantitok 0:8f3710bfd298 2 #define _ROS_sensor_msgs_Imu_h
irfantitok 0:8f3710bfd298 3
irfantitok 0:8f3710bfd298 4 #include <stdint.h>
irfantitok 0:8f3710bfd298 5 #include <string.h>
irfantitok 0:8f3710bfd298 6 #include <stdlib.h>
irfantitok 0:8f3710bfd298 7 #include "ros/msg.h"
irfantitok 0:8f3710bfd298 8 #include "std_msgs/Header.h"
irfantitok 0:8f3710bfd298 9 #include "geometry_msgs/Quaternion.h"
irfantitok 0:8f3710bfd298 10 #include "geometry_msgs/Vector3.h"
irfantitok 0:8f3710bfd298 11
irfantitok 0:8f3710bfd298 12 namespace sensor_msgs
irfantitok 0:8f3710bfd298 13 {
irfantitok 0:8f3710bfd298 14
irfantitok 0:8f3710bfd298 15 class Imu : public ros::Msg
irfantitok 0:8f3710bfd298 16 {
irfantitok 0:8f3710bfd298 17 public:
irfantitok 0:8f3710bfd298 18 typedef std_msgs::Header _header_type;
irfantitok 0:8f3710bfd298 19 _header_type header;
irfantitok 0:8f3710bfd298 20 typedef geometry_msgs::Quaternion _orientation_type;
irfantitok 0:8f3710bfd298 21 _orientation_type orientation;
irfantitok 0:8f3710bfd298 22 double orientation_covariance[9];
irfantitok 0:8f3710bfd298 23 typedef geometry_msgs::Vector3 _angular_velocity_type;
irfantitok 0:8f3710bfd298 24 _angular_velocity_type angular_velocity;
irfantitok 0:8f3710bfd298 25 double angular_velocity_covariance[9];
irfantitok 0:8f3710bfd298 26 typedef geometry_msgs::Vector3 _linear_acceleration_type;
irfantitok 0:8f3710bfd298 27 _linear_acceleration_type linear_acceleration;
irfantitok 0:8f3710bfd298 28 double linear_acceleration_covariance[9];
irfantitok 0:8f3710bfd298 29
irfantitok 0:8f3710bfd298 30 Imu():
irfantitok 0:8f3710bfd298 31 header(),
irfantitok 0:8f3710bfd298 32 orientation(),
irfantitok 0:8f3710bfd298 33 orientation_covariance(),
irfantitok 0:8f3710bfd298 34 angular_velocity(),
irfantitok 0:8f3710bfd298 35 angular_velocity_covariance(),
irfantitok 0:8f3710bfd298 36 linear_acceleration(),
irfantitok 0:8f3710bfd298 37 linear_acceleration_covariance()
irfantitok 0:8f3710bfd298 38 {
irfantitok 0:8f3710bfd298 39 }
irfantitok 0:8f3710bfd298 40
irfantitok 0:8f3710bfd298 41 virtual int serialize(unsigned char *outbuffer) const
irfantitok 0:8f3710bfd298 42 {
irfantitok 0:8f3710bfd298 43 int offset = 0;
irfantitok 0:8f3710bfd298 44 offset += this->header.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 45 offset += this->orientation.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 46 for( uint32_t i = 0; i < 9; i++){
irfantitok 0:8f3710bfd298 47 union {
irfantitok 0:8f3710bfd298 48 double real;
irfantitok 0:8f3710bfd298 49 uint64_t base;
irfantitok 0:8f3710bfd298 50 } u_orientation_covariancei;
irfantitok 0:8f3710bfd298 51 u_orientation_covariancei.real = this->orientation_covariance[i];
irfantitok 0:8f3710bfd298 52 *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 53 *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 54 *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 55 *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 56 *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
irfantitok 0:8f3710bfd298 57 *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
irfantitok 0:8f3710bfd298 58 *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
irfantitok 0:8f3710bfd298 59 *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
irfantitok 0:8f3710bfd298 60 offset += sizeof(this->orientation_covariance[i]);
irfantitok 0:8f3710bfd298 61 }
irfantitok 0:8f3710bfd298 62 offset += this->angular_velocity.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 63 for( uint32_t i = 0; i < 9; i++){
irfantitok 0:8f3710bfd298 64 union {
irfantitok 0:8f3710bfd298 65 double real;
irfantitok 0:8f3710bfd298 66 uint64_t base;
irfantitok 0:8f3710bfd298 67 } u_angular_velocity_covariancei;
irfantitok 0:8f3710bfd298 68 u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
irfantitok 0:8f3710bfd298 69 *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 70 *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 71 *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 72 *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 73 *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
irfantitok 0:8f3710bfd298 74 *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
irfantitok 0:8f3710bfd298 75 *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
irfantitok 0:8f3710bfd298 76 *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
irfantitok 0:8f3710bfd298 77 offset += sizeof(this->angular_velocity_covariance[i]);
irfantitok 0:8f3710bfd298 78 }
irfantitok 0:8f3710bfd298 79 offset += this->linear_acceleration.serialize(outbuffer + offset);
irfantitok 0:8f3710bfd298 80 for( uint32_t i = 0; i < 9; i++){
irfantitok 0:8f3710bfd298 81 union {
irfantitok 0:8f3710bfd298 82 double real;
irfantitok 0:8f3710bfd298 83 uint64_t base;
irfantitok 0:8f3710bfd298 84 } u_linear_acceleration_covariancei;
irfantitok 0:8f3710bfd298 85 u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
irfantitok 0:8f3710bfd298 86 *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
irfantitok 0:8f3710bfd298 87 *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
irfantitok 0:8f3710bfd298 88 *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
irfantitok 0:8f3710bfd298 89 *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
irfantitok 0:8f3710bfd298 90 *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
irfantitok 0:8f3710bfd298 91 *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
irfantitok 0:8f3710bfd298 92 *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
irfantitok 0:8f3710bfd298 93 *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
irfantitok 0:8f3710bfd298 94 offset += sizeof(this->linear_acceleration_covariance[i]);
irfantitok 0:8f3710bfd298 95 }
irfantitok 0:8f3710bfd298 96 return offset;
irfantitok 0:8f3710bfd298 97 }
irfantitok 0:8f3710bfd298 98
irfantitok 0:8f3710bfd298 99 virtual int deserialize(unsigned char *inbuffer)
irfantitok 0:8f3710bfd298 100 {
irfantitok 0:8f3710bfd298 101 int offset = 0;
irfantitok 0:8f3710bfd298 102 offset += this->header.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 103 offset += this->orientation.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 104 for( uint32_t i = 0; i < 9; i++){
irfantitok 0:8f3710bfd298 105 union {
irfantitok 0:8f3710bfd298 106 double real;
irfantitok 0:8f3710bfd298 107 uint64_t base;
irfantitok 0:8f3710bfd298 108 } u_orientation_covariancei;
irfantitok 0:8f3710bfd298 109 u_orientation_covariancei.base = 0;
irfantitok 0:8f3710bfd298 110 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 111 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 112 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 113 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 114 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
irfantitok 0:8f3710bfd298 115 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
irfantitok 0:8f3710bfd298 116 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
irfantitok 0:8f3710bfd298 117 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
irfantitok 0:8f3710bfd298 118 this->orientation_covariance[i] = u_orientation_covariancei.real;
irfantitok 0:8f3710bfd298 119 offset += sizeof(this->orientation_covariance[i]);
irfantitok 0:8f3710bfd298 120 }
irfantitok 0:8f3710bfd298 121 offset += this->angular_velocity.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 122 for( uint32_t i = 0; i < 9; i++){
irfantitok 0:8f3710bfd298 123 union {
irfantitok 0:8f3710bfd298 124 double real;
irfantitok 0:8f3710bfd298 125 uint64_t base;
irfantitok 0:8f3710bfd298 126 } u_angular_velocity_covariancei;
irfantitok 0:8f3710bfd298 127 u_angular_velocity_covariancei.base = 0;
irfantitok 0:8f3710bfd298 128 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 129 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 130 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 131 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 132 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
irfantitok 0:8f3710bfd298 133 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
irfantitok 0:8f3710bfd298 134 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
irfantitok 0:8f3710bfd298 135 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
irfantitok 0:8f3710bfd298 136 this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
irfantitok 0:8f3710bfd298 137 offset += sizeof(this->angular_velocity_covariance[i]);
irfantitok 0:8f3710bfd298 138 }
irfantitok 0:8f3710bfd298 139 offset += this->linear_acceleration.deserialize(inbuffer + offset);
irfantitok 0:8f3710bfd298 140 for( uint32_t i = 0; i < 9; i++){
irfantitok 0:8f3710bfd298 141 union {
irfantitok 0:8f3710bfd298 142 double real;
irfantitok 0:8f3710bfd298 143 uint64_t base;
irfantitok 0:8f3710bfd298 144 } u_linear_acceleration_covariancei;
irfantitok 0:8f3710bfd298 145 u_linear_acceleration_covariancei.base = 0;
irfantitok 0:8f3710bfd298 146 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
irfantitok 0:8f3710bfd298 147 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
irfantitok 0:8f3710bfd298 148 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
irfantitok 0:8f3710bfd298 149 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
irfantitok 0:8f3710bfd298 150 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
irfantitok 0:8f3710bfd298 151 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
irfantitok 0:8f3710bfd298 152 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
irfantitok 0:8f3710bfd298 153 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
irfantitok 0:8f3710bfd298 154 this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
irfantitok 0:8f3710bfd298 155 offset += sizeof(this->linear_acceleration_covariance[i]);
irfantitok 0:8f3710bfd298 156 }
irfantitok 0:8f3710bfd298 157 return offset;
irfantitok 0:8f3710bfd298 158 }
irfantitok 0:8f3710bfd298 159
irfantitok 0:8f3710bfd298 160 const char * getType(){ return "sensor_msgs/Imu"; };
irfantitok 0:8f3710bfd298 161 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
irfantitok 0:8f3710bfd298 162
irfantitok 0:8f3710bfd298 163 };
irfantitok 0:8f3710bfd298 164
irfantitok 0:8f3710bfd298 165 }
irfantitok 0:8f3710bfd298 166 #endif