Increased buffer size
Fork of ros_lib_kinetic by
Diff: sensor_msgs/Imu.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/Imu.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,166 @@ +#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 \ No newline at end of file