Jacob Hernandez
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
Fork of
ros_lib_kinetic
by 
Gary Servin
sensor_msgs/Imu.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_sensor_msgs_Imu_h
#define _ROS_sensor_msgs_Imu_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Vector3.h"
namespace sensor_msgs
{
class Imu : public ros::Msg
{
public:
typedef std_msgs::Header _header_type;
_header_type header;
typedef geometry_msgs::Quaternion _orientation_type;
_orientation_type orientation;
double orientation_covariance[9];
typedef geometry_msgs::Vector3 _angular_velocity_type;
_angular_velocity_type angular_velocity;
double angular_velocity_covariance[9];
typedef geometry_msgs::Vector3 _linear_acceleration_type;
_linear_acceleration_type linear_acceleration;
double linear_acceleration_covariance[9];
Imu():
header(),
orientation(),
orientation_covariance(),
angular_velocity(),
angular_velocity_covariance(),
linear_acceleration(),
linear_acceleration_covariance()
{
}
virtual int serialize(unsigned char *outbuffer) const
{
int offset = 0;
offset += this->header.serialize(outbuffer + offset);
offset += this->orientation.serialize(outbuffer + offset);
for( uint32_t i = 0; i < 9; i++){
union {
double real;
uint64_t base;
} u_orientation_covariancei;
u_orientation_covariancei.real = this->orientation_covariance[i];
*(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
*(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
*(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
*(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
*(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
offset += sizeof(this->orientation_covariance[i]);
}
offset += this->angular_velocity.serialize(outbuffer + offset);
for( uint32_t i = 0; i < 9; i++){
union {
double real;
uint64_t base;
} u_angular_velocity_covariancei;
u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
*(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
*(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
*(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
*(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
*(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
offset += sizeof(this->angular_velocity_covariance[i]);
}
offset += this->linear_acceleration.serialize(outbuffer + offset);
for( uint32_t i = 0; i < 9; i++){
union {
double real;
uint64_t base;
} u_linear_acceleration_covariancei;
u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
*(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
*(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
*(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
*(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
*(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
*(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
*(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
offset += sizeof(this->linear_acceleration_covariance[i]);
}
return offset;
}
virtual int deserialize(unsigned char *inbuffer)
{
int offset = 0;
offset += this->header.deserialize(inbuffer + offset);
offset += this->orientation.deserialize(inbuffer + offset);
for( uint32_t i = 0; i < 9; i++){
union {
double real;
uint64_t base;
} u_orientation_covariancei;
u_orientation_covariancei.base = 0;
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
this->orientation_covariance[i] = u_orientation_covariancei.real;
offset += sizeof(this->orientation_covariance[i]);
}
offset += this->angular_velocity.deserialize(inbuffer + offset);
for( uint32_t i = 0; i < 9; i++){
union {
double real;
uint64_t base;
} u_angular_velocity_covariancei;
u_angular_velocity_covariancei.base = 0;
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
offset += sizeof(this->angular_velocity_covariance[i]);
}
offset += this->linear_acceleration.deserialize(inbuffer + offset);
for( uint32_t i = 0; i < 9; i++){
union {
double real;
uint64_t base;
} u_linear_acceleration_covariancei;
u_linear_acceleration_covariancei.base = 0;
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
offset += sizeof(this->linear_acceleration_covariance[i]);
}
return offset;
}
const char * getType(){ return "sensor_msgs/Imu"; };
const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
};
}
#endif