jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

sensor_msgs/Imu.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_sensor_msgs_Imu_h
jjzak 6:3c54bc7badd4 2 #define _ROS_sensor_msgs_Imu_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "std_msgs/Header.h"
jjzak 6:3c54bc7badd4 9 #include "geometry_msgs/Quaternion.h"
jjzak 6:3c54bc7badd4 10 #include "geometry_msgs/Vector3.h"
jjzak 6:3c54bc7badd4 11
jjzak 6:3c54bc7badd4 12 namespace sensor_msgs
jjzak 6:3c54bc7badd4 13 {
jjzak 6:3c54bc7badd4 14
jjzak 6:3c54bc7badd4 15 class Imu : public ros::Msg
jjzak 6:3c54bc7badd4 16 {
jjzak 6:3c54bc7badd4 17 public:
jjzak 6:3c54bc7badd4 18 std_msgs::Header header;
jjzak 6:3c54bc7badd4 19 geometry_msgs::Quaternion orientation;
jjzak 6:3c54bc7badd4 20 float orientation_covariance[9];
jjzak 6:3c54bc7badd4 21 geometry_msgs::Vector3 angular_velocity;
jjzak 6:3c54bc7badd4 22 float angular_velocity_covariance[9];
jjzak 6:3c54bc7badd4 23 geometry_msgs::Vector3 linear_acceleration;
jjzak 6:3c54bc7badd4 24 float linear_acceleration_covariance[9];
jjzak 6:3c54bc7badd4 25
jjzak 6:3c54bc7badd4 26 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 27 {
jjzak 6:3c54bc7badd4 28 int offset = 0;
jjzak 6:3c54bc7badd4 29 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 30 offset += this->orientation.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 31 unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;
jjzak 6:3c54bc7badd4 32 for( uint8_t i = 0; i < 9; i++){
jjzak 6:3c54bc7badd4 33 int32_t * val_orientation_covariancei = (int32_t *) &(this->orientation_covariance[i]);
jjzak 6:3c54bc7badd4 34 int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);
jjzak 6:3c54bc7badd4 35 if(exp_orientation_covariancei != 0)
jjzak 6:3c54bc7badd4 36 exp_orientation_covariancei += 1023-127;
jjzak 6:3c54bc7badd4 37 int32_t sig_orientation_covariancei = *val_orientation_covariancei;
jjzak 6:3c54bc7badd4 38 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 39 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 40 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 41 *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff;
jjzak 6:3c54bc7badd4 42 *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff;
jjzak 6:3c54bc7badd4 43 *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff;
jjzak 6:3c54bc7badd4 44 *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F);
jjzak 6:3c54bc7badd4 45 *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F;
jjzak 6:3c54bc7badd4 46 if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 47 }
jjzak 6:3c54bc7badd4 48 offset += this->angular_velocity.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 49 unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;
jjzak 6:3c54bc7badd4 50 for( uint8_t i = 0; i < 9; i++){
jjzak 6:3c54bc7badd4 51 int32_t * val_angular_velocity_covariancei = (int32_t *) &(this->angular_velocity_covariance[i]);
jjzak 6:3c54bc7badd4 52 int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);
jjzak 6:3c54bc7badd4 53 if(exp_angular_velocity_covariancei != 0)
jjzak 6:3c54bc7badd4 54 exp_angular_velocity_covariancei += 1023-127;
jjzak 6:3c54bc7badd4 55 int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;
jjzak 6:3c54bc7badd4 56 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 57 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 58 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 59 *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff;
jjzak 6:3c54bc7badd4 60 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff;
jjzak 6:3c54bc7badd4 61 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff;
jjzak 6:3c54bc7badd4 62 *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F);
jjzak 6:3c54bc7badd4 63 *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F;
jjzak 6:3c54bc7badd4 64 if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 65 }
jjzak 6:3c54bc7badd4 66 offset += this->linear_acceleration.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 67 unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;
jjzak 6:3c54bc7badd4 68 for( uint8_t i = 0; i < 9; i++){
jjzak 6:3c54bc7badd4 69 int32_t * val_linear_acceleration_covariancei = (int32_t *) &(this->linear_acceleration_covariance[i]);
jjzak 6:3c54bc7badd4 70 int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);
jjzak 6:3c54bc7badd4 71 if(exp_linear_acceleration_covariancei != 0)
jjzak 6:3c54bc7badd4 72 exp_linear_acceleration_covariancei += 1023-127;
jjzak 6:3c54bc7badd4 73 int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;
jjzak 6:3c54bc7badd4 74 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 75 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 76 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 77 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff;
jjzak 6:3c54bc7badd4 78 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff;
jjzak 6:3c54bc7badd4 79 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff;
jjzak 6:3c54bc7badd4 80 *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F);
jjzak 6:3c54bc7badd4 81 *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F;
jjzak 6:3c54bc7badd4 82 if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
jjzak 6:3c54bc7badd4 83 }
jjzak 6:3c54bc7badd4 84 return offset;
jjzak 6:3c54bc7badd4 85 }
jjzak 6:3c54bc7badd4 86
jjzak 6:3c54bc7badd4 87 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 88 {
jjzak 6:3c54bc7badd4 89 int offset = 0;
jjzak 6:3c54bc7badd4 90 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 91 offset += this->orientation.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 92 uint8_t * orientation_covariance_val = (uint8_t*) this->orientation_covariance;
jjzak 6:3c54bc7badd4 93 for( uint8_t i = 0; i < 9; i++){
jjzak 6:3c54bc7badd4 94 uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]);
jjzak 6:3c54bc7badd4 95 offset += 3;
jjzak 6:3c54bc7badd4 96 *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 97 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 98 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 99 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 100 uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 101 exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 102 if(exp_orientation_covariancei !=0)
jjzak 6:3c54bc7badd4 103 *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23;
jjzak 6:3c54bc7badd4 104 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i];
jjzak 6:3c54bc7badd4 105 }
jjzak 6:3c54bc7badd4 106 offset += this->angular_velocity.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 107 uint8_t * angular_velocity_covariance_val = (uint8_t*) this->angular_velocity_covariance;
jjzak 6:3c54bc7badd4 108 for( uint8_t i = 0; i < 9; i++){
jjzak 6:3c54bc7badd4 109 uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]);
jjzak 6:3c54bc7badd4 110 offset += 3;
jjzak 6:3c54bc7badd4 111 *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 112 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 113 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 114 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 115 uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 116 exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 117 if(exp_angular_velocity_covariancei !=0)
jjzak 6:3c54bc7badd4 118 *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23;
jjzak 6:3c54bc7badd4 119 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i];
jjzak 6:3c54bc7badd4 120 }
jjzak 6:3c54bc7badd4 121 offset += this->linear_acceleration.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 122 uint8_t * linear_acceleration_covariance_val = (uint8_t*) this->linear_acceleration_covariance;
jjzak 6:3c54bc7badd4 123 for( uint8_t i = 0; i < 9; i++){
jjzak 6:3c54bc7badd4 124 uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]);
jjzak 6:3c54bc7badd4 125 offset += 3;
jjzak 6:3c54bc7badd4 126 *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
jjzak 6:3c54bc7badd4 127 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
jjzak 6:3c54bc7badd4 128 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
jjzak 6:3c54bc7badd4 129 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
jjzak 6:3c54bc7badd4 130 uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
jjzak 6:3c54bc7badd4 131 exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
jjzak 6:3c54bc7badd4 132 if(exp_linear_acceleration_covariancei !=0)
jjzak 6:3c54bc7badd4 133 *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23;
jjzak 6:3c54bc7badd4 134 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i];
jjzak 6:3c54bc7badd4 135 }
jjzak 6:3c54bc7badd4 136 return offset;
jjzak 6:3c54bc7badd4 137 }
jjzak 6:3c54bc7badd4 138
jjzak 6:3c54bc7badd4 139 const char * getType(){ return "sensor_msgs/Imu"; };
jjzak 6:3c54bc7badd4 140 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
jjzak 6:3c54bc7badd4 141
jjzak 6:3c54bc7badd4 142 };
jjzak 6:3c54bc7badd4 143
jjzak 6:3c54bc7badd4 144 }
jjzak 6:3c54bc7badd4 145 #endif