modify for Hydro version
Fork of rosserial_mbed_lib by
Diff: sensor_msgs/Imu.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/sensor_msgs/Imu.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,145 +0,0 @@ -#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: - std_msgs::Header header; - geometry_msgs::Quaternion orientation; - float orientation_covariance[9]; - geometry_msgs::Vector3 angular_velocity; - float angular_velocity_covariance[9]; - geometry_msgs::Vector3 linear_acceleration; - float linear_acceleration_covariance[9]; - - virtual int serialize(unsigned char *outbuffer) const - { - int offset = 0; - offset += this->header.serialize(outbuffer + offset); - offset += this->orientation.serialize(outbuffer + offset); - unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance; - for( uint8_t i = 0; i < 9; i++){ - int32_t * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]); - int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255); - if(exp_orientation_covariancei != 0) - exp_orientation_covariancei += 1023-127; - int32_t sig_orientation_covariancei = *val_orientation_covariancei; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff; - *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff; - *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff; - *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F); - *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F; - if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; - } - offset += this->angular_velocity.serialize(outbuffer + offset); - unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance; - for( uint8_t i = 0; i < 9; i++){ - int32_t * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]); - int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255); - if(exp_angular_velocity_covariancei != 0) - exp_angular_velocity_covariancei += 1023-127; - int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff; - *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff; - *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff; - *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F); - *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F; - if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; - } - offset += this->linear_acceleration.serialize(outbuffer + offset); - unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance; - for( uint8_t i = 0; i < 9; i++){ - int32_t * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]); - int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255); - if(exp_linear_acceleration_covariancei != 0) - exp_linear_acceleration_covariancei += 1023-127; - int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff; - *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff; - *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff; - *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F); - *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F; - if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; - } - return offset; - } - - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - offset += this->header.deserialize(inbuffer + offset); - offset += this->orientation.deserialize(inbuffer + offset); - uint8_t * orientation_covariance_val = (uint8_t*) this->orientation_covariance; - for( uint8_t i = 0; i < 9; i++){ - uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]); - offset += 3; - *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_orientation_covariancei !=0) - *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i]; - } - offset += this->angular_velocity.deserialize(inbuffer + offset); - uint8_t * angular_velocity_covariance_val = (uint8_t*) this->angular_velocity_covariance; - for( uint8_t i = 0; i < 9; i++){ - uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]); - offset += 3; - *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_angular_velocity_covariancei !=0) - *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i]; - } - offset += this->linear_acceleration.deserialize(inbuffer + offset); - uint8_t * linear_acceleration_covariance_val = (uint8_t*) this->linear_acceleration_covariance; - for( uint8_t i = 0; i < 9; i++){ - uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]); - offset += 3; - *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); - *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; - *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; - *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; - uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; - exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; - if(exp_linear_acceleration_covariancei !=0) - *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23; - if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i]; - } - return offset; - } - - virtual const char * getType(){ return "sensor_msgs/Imu"; }; - virtual const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; }; - - }; - -} -#endif \ No newline at end of file