Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

sensor_msgs/Imu.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_sensor_msgs_Imu_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_Imu_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9 #include "geometry_msgs/Quaternion.h"
Gary Servin 0:04ac6be8229a 10 #include "geometry_msgs/Vector3.h"
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class Imu : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 19 _header_type header;
Gary Servin 0:04ac6be8229a 20 typedef geometry_msgs::Quaternion _orientation_type;
Gary Servin 0:04ac6be8229a 21 _orientation_type orientation;
Gary Servin 0:04ac6be8229a 22 double orientation_covariance[9];
Gary Servin 0:04ac6be8229a 23 typedef geometry_msgs::Vector3 _angular_velocity_type;
Gary Servin 0:04ac6be8229a 24 _angular_velocity_type angular_velocity;
Gary Servin 0:04ac6be8229a 25 double angular_velocity_covariance[9];
Gary Servin 0:04ac6be8229a 26 typedef geometry_msgs::Vector3 _linear_acceleration_type;
Gary Servin 0:04ac6be8229a 27 _linear_acceleration_type linear_acceleration;
Gary Servin 0:04ac6be8229a 28 double linear_acceleration_covariance[9];
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 Imu():
Gary Servin 0:04ac6be8229a 31 header(),
Gary Servin 0:04ac6be8229a 32 orientation(),
Gary Servin 0:04ac6be8229a 33 orientation_covariance(),
Gary Servin 0:04ac6be8229a 34 angular_velocity(),
Gary Servin 0:04ac6be8229a 35 angular_velocity_covariance(),
Gary Servin 0:04ac6be8229a 36 linear_acceleration(),
Gary Servin 0:04ac6be8229a 37 linear_acceleration_covariance()
Gary Servin 0:04ac6be8229a 38 {
Gary Servin 0:04ac6be8229a 39 }
Gary Servin 0:04ac6be8229a 40
Gary Servin 0:04ac6be8229a 41 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 42 {
Gary Servin 0:04ac6be8229a 43 int offset = 0;
Gary Servin 0:04ac6be8229a 44 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 45 offset += this->orientation.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 46 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 47 union {
Gary Servin 0:04ac6be8229a 48 double real;
Gary Servin 0:04ac6be8229a 49 uint64_t base;
Gary Servin 0:04ac6be8229a 50 } u_orientation_covariancei;
Gary Servin 0:04ac6be8229a 51 u_orientation_covariancei.real = this->orientation_covariance[i];
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 offset += sizeof(this->orientation_covariance[i]);
Gary Servin 0:04ac6be8229a 61 }
Gary Servin 0:04ac6be8229a 62 offset += this->angular_velocity.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 63 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 64 union {
Gary Servin 0:04ac6be8229a 65 double real;
Gary Servin 0:04ac6be8229a 66 uint64_t base;
Gary Servin 0:04ac6be8229a 67 } u_angular_velocity_covariancei;
Gary Servin 0:04ac6be8229a 68 u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 offset += sizeof(this->angular_velocity_covariance[i]);
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79 offset += this->linear_acceleration.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 80 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 81 union {
Gary Servin 0:04ac6be8229a 82 double real;
Gary Servin 0:04ac6be8229a 83 uint64_t base;
Gary Servin 0:04ac6be8229a 84 } u_linear_acceleration_covariancei;
Gary Servin 0:04ac6be8229a 85 u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
Gary Servin 0:04ac6be8229a 86 *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 87 *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 88 *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 89 *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 90 *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 91 *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 92 *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 93 *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 94 offset += sizeof(this->linear_acceleration_covariance[i]);
Gary Servin 0:04ac6be8229a 95 }
Gary Servin 0:04ac6be8229a 96 return offset;
Gary Servin 0:04ac6be8229a 97 }
Gary Servin 0:04ac6be8229a 98
Gary Servin 0:04ac6be8229a 99 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 100 {
Gary Servin 0:04ac6be8229a 101 int offset = 0;
Gary Servin 0:04ac6be8229a 102 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 103 offset += this->orientation.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 104 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 105 union {
Gary Servin 0:04ac6be8229a 106 double real;
Gary Servin 0:04ac6be8229a 107 uint64_t base;
Gary Servin 0:04ac6be8229a 108 } u_orientation_covariancei;
Gary Servin 0:04ac6be8229a 109 u_orientation_covariancei.base = 0;
Gary Servin 0:04ac6be8229a 110 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 111 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 112 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 113 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 114 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 115 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 116 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 117 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 118 this->orientation_covariance[i] = u_orientation_covariancei.real;
Gary Servin 0:04ac6be8229a 119 offset += sizeof(this->orientation_covariance[i]);
Gary Servin 0:04ac6be8229a 120 }
Gary Servin 0:04ac6be8229a 121 offset += this->angular_velocity.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 122 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 123 union {
Gary Servin 0:04ac6be8229a 124 double real;
Gary Servin 0:04ac6be8229a 125 uint64_t base;
Gary Servin 0:04ac6be8229a 126 } u_angular_velocity_covariancei;
Gary Servin 0:04ac6be8229a 127 u_angular_velocity_covariancei.base = 0;
Gary Servin 0:04ac6be8229a 128 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 129 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 130 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 131 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 132 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 133 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 134 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 135 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 136 this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
Gary Servin 0:04ac6be8229a 137 offset += sizeof(this->angular_velocity_covariance[i]);
Gary Servin 0:04ac6be8229a 138 }
Gary Servin 0:04ac6be8229a 139 offset += this->linear_acceleration.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 140 for( uint32_t i = 0; i < 9; i++){
Gary Servin 0:04ac6be8229a 141 union {
Gary Servin 0:04ac6be8229a 142 double real;
Gary Servin 0:04ac6be8229a 143 uint64_t base;
Gary Servin 0:04ac6be8229a 144 } u_linear_acceleration_covariancei;
Gary Servin 0:04ac6be8229a 145 u_linear_acceleration_covariancei.base = 0;
Gary Servin 0:04ac6be8229a 146 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 147 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 148 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 149 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 150 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 151 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 152 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 153 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 154 this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
Gary Servin 0:04ac6be8229a 155 offset += sizeof(this->linear_acceleration_covariance[i]);
Gary Servin 0:04ac6be8229a 156 }
Gary Servin 0:04ac6be8229a 157 return offset;
Gary Servin 0:04ac6be8229a 158 }
Gary Servin 0:04ac6be8229a 159
Gary Servin 0:04ac6be8229a 160 const char * getType(){ return "sensor_msgs/Imu"; };
Gary Servin 0:04ac6be8229a 161 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
Gary Servin 0:04ac6be8229a 162
Gary Servin 0:04ac6be8229a 163 };
Gary Servin 0:04ac6be8229a 164
Gary Servin 0:04ac6be8229a 165 }
Gary Servin 0:04ac6be8229a 166 #endif