Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/Imu.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_Imu_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_Imu_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "geometry_msgs/Quaternion.h"
garyservin 0:9e9b7db60fd5 10 #include "geometry_msgs/Vector3.h"
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class Imu : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 19 _header_type header;
garyservin 0:9e9b7db60fd5 20 typedef geometry_msgs::Quaternion _orientation_type;
garyservin 0:9e9b7db60fd5 21 _orientation_type orientation;
garyservin 0:9e9b7db60fd5 22 double orientation_covariance[9];
garyservin 0:9e9b7db60fd5 23 typedef geometry_msgs::Vector3 _angular_velocity_type;
garyservin 0:9e9b7db60fd5 24 _angular_velocity_type angular_velocity;
garyservin 0:9e9b7db60fd5 25 double angular_velocity_covariance[9];
garyservin 0:9e9b7db60fd5 26 typedef geometry_msgs::Vector3 _linear_acceleration_type;
garyservin 0:9e9b7db60fd5 27 _linear_acceleration_type linear_acceleration;
garyservin 0:9e9b7db60fd5 28 double linear_acceleration_covariance[9];
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 Imu():
garyservin 0:9e9b7db60fd5 31 header(),
garyservin 0:9e9b7db60fd5 32 orientation(),
garyservin 0:9e9b7db60fd5 33 orientation_covariance(),
garyservin 0:9e9b7db60fd5 34 angular_velocity(),
garyservin 0:9e9b7db60fd5 35 angular_velocity_covariance(),
garyservin 0:9e9b7db60fd5 36 linear_acceleration(),
garyservin 0:9e9b7db60fd5 37 linear_acceleration_covariance()
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 42 {
garyservin 0:9e9b7db60fd5 43 int offset = 0;
garyservin 0:9e9b7db60fd5 44 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 45 offset += this->orientation.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 46 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 47 union {
garyservin 0:9e9b7db60fd5 48 double real;
garyservin 0:9e9b7db60fd5 49 uint64_t base;
garyservin 0:9e9b7db60fd5 50 } u_orientation_covariancei;
garyservin 0:9e9b7db60fd5 51 u_orientation_covariancei.real = this->orientation_covariance[i];
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 offset += sizeof(this->orientation_covariance[i]);
garyservin 0:9e9b7db60fd5 61 }
garyservin 0:9e9b7db60fd5 62 offset += this->angular_velocity.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 63 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 64 union {
garyservin 0:9e9b7db60fd5 65 double real;
garyservin 0:9e9b7db60fd5 66 uint64_t base;
garyservin 0:9e9b7db60fd5 67 } u_angular_velocity_covariancei;
garyservin 0:9e9b7db60fd5 68 u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->angular_velocity_covariance[i]);
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 offset += this->linear_acceleration.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 80 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 81 union {
garyservin 0:9e9b7db60fd5 82 double real;
garyservin 0:9e9b7db60fd5 83 uint64_t base;
garyservin 0:9e9b7db60fd5 84 } u_linear_acceleration_covariancei;
garyservin 0:9e9b7db60fd5 85 u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 89 *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 90 *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 91 *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 92 *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 offset += sizeof(this->linear_acceleration_covariance[i]);
garyservin 0:9e9b7db60fd5 95 }
garyservin 0:9e9b7db60fd5 96 return offset;
garyservin 0:9e9b7db60fd5 97 }
garyservin 0:9e9b7db60fd5 98
garyservin 0:9e9b7db60fd5 99 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 100 {
garyservin 0:9e9b7db60fd5 101 int offset = 0;
garyservin 0:9e9b7db60fd5 102 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 103 offset += this->orientation.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 104 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 105 union {
garyservin 0:9e9b7db60fd5 106 double real;
garyservin 0:9e9b7db60fd5 107 uint64_t base;
garyservin 0:9e9b7db60fd5 108 } u_orientation_covariancei;
garyservin 0:9e9b7db60fd5 109 u_orientation_covariancei.base = 0;
garyservin 0:9e9b7db60fd5 110 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 111 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 112 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 113 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 114 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 115 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 116 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 117 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 118 this->orientation_covariance[i] = u_orientation_covariancei.real;
garyservin 0:9e9b7db60fd5 119 offset += sizeof(this->orientation_covariance[i]);
garyservin 0:9e9b7db60fd5 120 }
garyservin 0:9e9b7db60fd5 121 offset += this->angular_velocity.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 122 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 123 union {
garyservin 0:9e9b7db60fd5 124 double real;
garyservin 0:9e9b7db60fd5 125 uint64_t base;
garyservin 0:9e9b7db60fd5 126 } u_angular_velocity_covariancei;
garyservin 0:9e9b7db60fd5 127 u_angular_velocity_covariancei.base = 0;
garyservin 0:9e9b7db60fd5 128 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 129 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 130 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 131 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 132 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 133 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 134 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 135 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 136 this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
garyservin 0:9e9b7db60fd5 137 offset += sizeof(this->angular_velocity_covariance[i]);
garyservin 0:9e9b7db60fd5 138 }
garyservin 0:9e9b7db60fd5 139 offset += this->linear_acceleration.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 140 for( uint32_t i = 0; i < 9; i++){
garyservin 0:9e9b7db60fd5 141 union {
garyservin 0:9e9b7db60fd5 142 double real;
garyservin 0:9e9b7db60fd5 143 uint64_t base;
garyservin 0:9e9b7db60fd5 144 } u_linear_acceleration_covariancei;
garyservin 0:9e9b7db60fd5 145 u_linear_acceleration_covariancei.base = 0;
garyservin 0:9e9b7db60fd5 146 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 147 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 148 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 149 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 150 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 151 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 152 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 153 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 154 this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
garyservin 0:9e9b7db60fd5 155 offset += sizeof(this->linear_acceleration_covariance[i]);
garyservin 0:9e9b7db60fd5 156 }
garyservin 0:9e9b7db60fd5 157 return offset;
garyservin 0:9e9b7db60fd5 158 }
garyservin 0:9e9b7db60fd5 159
garyservin 0:9e9b7db60fd5 160 const char * getType(){ return "sensor_msgs/Imu"; };
garyservin 0:9e9b7db60fd5 161 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
garyservin 0:9e9b7db60fd5 162
garyservin 0:9e9b7db60fd5 163 };
garyservin 0:9e9b7db60fd5 164
garyservin 0:9e9b7db60fd5 165 }
garyservin 0:9e9b7db60fd5 166 #endif