nucho / Mbed 2 deprecated rosserial_mbed

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.

Dependencies:   rosserial_mbed_lib mbed Servo

sensor_msgs/Imu.h@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
0:06fc856e99ca 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:dff241b66f84 1 #ifndef _ROS_sensor_msgs_Imu_h
nucho 3:dff241b66f84 2 #define _ROS_sensor_msgs_Imu_h
nucho 0:06fc856e99ca 3
nucho 0:06fc856e99ca 4 #include <stdint.h>
nucho 0:06fc856e99ca 5 #include <string.h>
nucho 0:06fc856e99ca 6 #include <stdlib.h>
nucho 3:dff241b66f84 7 #include "ros/msg.h"
nucho 0:06fc856e99ca 8 #include "std_msgs/Header.h"
nucho 0:06fc856e99ca 9 #include "geometry_msgs/Quaternion.h"
nucho 0:06fc856e99ca 10 #include "geometry_msgs/Vector3.h"
nucho 0:06fc856e99ca 11
nucho 0:06fc856e99ca 12 namespace sensor_msgs
nucho 0:06fc856e99ca 13 {
nucho 0:06fc856e99ca 14
nucho 0:06fc856e99ca 15 class Imu : public ros::Msg
nucho 0:06fc856e99ca 16 {
nucho 0:06fc856e99ca 17 public:
nucho 0:06fc856e99ca 18 std_msgs::Header header;
nucho 0:06fc856e99ca 19 geometry_msgs::Quaternion orientation;
nucho 0:06fc856e99ca 20 float orientation_covariance[9];
nucho 0:06fc856e99ca 21 geometry_msgs::Vector3 angular_velocity;
nucho 0:06fc856e99ca 22 float angular_velocity_covariance[9];
nucho 0:06fc856e99ca 23 geometry_msgs::Vector3 linear_acceleration;
nucho 0:06fc856e99ca 24 float linear_acceleration_covariance[9];
nucho 0:06fc856e99ca 25
nucho 3:dff241b66f84 26 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 27 {
nucho 0:06fc856e99ca 28 int offset = 0;
nucho 0:06fc856e99ca 29 offset += this->header.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 30 offset += this->orientation.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 31 unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;
nucho 3:dff241b66f84 32 for( uint8_t i = 0; i < 9; i++){
nucho 3:dff241b66f84 33 int32_t * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]);
nucho 3:dff241b66f84 34 int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);
nucho 0:06fc856e99ca 35 if(exp_orientation_covariancei != 0)
nucho 0:06fc856e99ca 36 exp_orientation_covariancei += 1023-127;
nucho 3:dff241b66f84 37 int32_t sig_orientation_covariancei = *val_orientation_covariancei;
nucho 0:06fc856e99ca 38 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 39 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 40 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 41 *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff;
nucho 0:06fc856e99ca 42 *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff;
nucho 0:06fc856e99ca 43 *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff;
nucho 0:06fc856e99ca 44 *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F);
nucho 0:06fc856e99ca 45 *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F;
nucho 0:06fc856e99ca 46 if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
nucho 0:06fc856e99ca 47 }
nucho 0:06fc856e99ca 48 offset += this->angular_velocity.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 49 unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;
nucho 3:dff241b66f84 50 for( uint8_t i = 0; i < 9; i++){
nucho 3:dff241b66f84 51 int32_t * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]);
nucho 3:dff241b66f84 52 int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);
nucho 0:06fc856e99ca 53 if(exp_angular_velocity_covariancei != 0)
nucho 0:06fc856e99ca 54 exp_angular_velocity_covariancei += 1023-127;
nucho 3:dff241b66f84 55 int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;
nucho 0:06fc856e99ca 56 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 57 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 58 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 59 *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff;
nucho 0:06fc856e99ca 60 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff;
nucho 0:06fc856e99ca 61 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff;
nucho 0:06fc856e99ca 62 *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F);
nucho 0:06fc856e99ca 63 *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F;
nucho 0:06fc856e99ca 64 if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
nucho 0:06fc856e99ca 65 }
nucho 0:06fc856e99ca 66 offset += this->linear_acceleration.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 67 unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;
nucho 3:dff241b66f84 68 for( uint8_t i = 0; i < 9; i++){
nucho 3:dff241b66f84 69 int32_t * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]);
nucho 3:dff241b66f84 70 int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);
nucho 0:06fc856e99ca 71 if(exp_linear_acceleration_covariancei != 0)
nucho 0:06fc856e99ca 72 exp_linear_acceleration_covariancei += 1023-127;
nucho 3:dff241b66f84 73 int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;
nucho 0:06fc856e99ca 74 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 75 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 76 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 77 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff;
nucho 0:06fc856e99ca 78 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff;
nucho 0:06fc856e99ca 79 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff;
nucho 0:06fc856e99ca 80 *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F);
nucho 0:06fc856e99ca 81 *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F;
nucho 0:06fc856e99ca 82 if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
nucho 0:06fc856e99ca 83 }
nucho 0:06fc856e99ca 84 return offset;
nucho 0:06fc856e99ca 85 }
nucho 0:06fc856e99ca 86
nucho 0:06fc856e99ca 87 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 88 {
nucho 0:06fc856e99ca 89 int offset = 0;
nucho 0:06fc856e99ca 90 offset += this->header.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 91 offset += this->orientation.deserialize(inbuffer + offset);
nucho 3:dff241b66f84 92 uint8_t * orientation_covariance_val = (uint8_t*) this->orientation_covariance;
nucho 3:dff241b66f84 93 for( uint8_t i = 0; i < 9; i++){
nucho 3:dff241b66f84 94 uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]);
nucho 0:06fc856e99ca 95 offset += 3;
nucho 3:dff241b66f84 96 *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
nucho 3:dff241b66f84 97 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
nucho 3:dff241b66f84 98 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
nucho 3:dff241b66f84 99 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
nucho 3:dff241b66f84 100 uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
nucho 3:dff241b66f84 101 exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
nucho 0:06fc856e99ca 102 if(exp_orientation_covariancei !=0)
nucho 0:06fc856e99ca 103 *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23;
nucho 0:06fc856e99ca 104 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i];
nucho 0:06fc856e99ca 105 }
nucho 0:06fc856e99ca 106 offset += this->angular_velocity.deserialize(inbuffer + offset);
nucho 3:dff241b66f84 107 uint8_t * angular_velocity_covariance_val = (uint8_t*) this->angular_velocity_covariance;
nucho 3:dff241b66f84 108 for( uint8_t i = 0; i < 9; i++){
nucho 3:dff241b66f84 109 uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]);
nucho 0:06fc856e99ca 110 offset += 3;
nucho 3:dff241b66f84 111 *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
nucho 3:dff241b66f84 112 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
nucho 3:dff241b66f84 113 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
nucho 3:dff241b66f84 114 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
nucho 3:dff241b66f84 115 uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
nucho 3:dff241b66f84 116 exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
nucho 0:06fc856e99ca 117 if(exp_angular_velocity_covariancei !=0)
nucho 0:06fc856e99ca 118 *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23;
nucho 0:06fc856e99ca 119 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i];
nucho 0:06fc856e99ca 120 }
nucho 0:06fc856e99ca 121 offset += this->linear_acceleration.deserialize(inbuffer + offset);
nucho 3:dff241b66f84 122 uint8_t * linear_acceleration_covariance_val = (uint8_t*) this->linear_acceleration_covariance;
nucho 3:dff241b66f84 123 for( uint8_t i = 0; i < 9; i++){
nucho 3:dff241b66f84 124 uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]);
nucho 0:06fc856e99ca 125 offset += 3;
nucho 3:dff241b66f84 126 *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
nucho 3:dff241b66f84 127 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
nucho 3:dff241b66f84 128 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
nucho 3:dff241b66f84 129 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
nucho 3:dff241b66f84 130 uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
nucho 3:dff241b66f84 131 exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
nucho 0:06fc856e99ca 132 if(exp_linear_acceleration_covariancei !=0)
nucho 0:06fc856e99ca 133 *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23;
nucho 0:06fc856e99ca 134 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i];
nucho 0:06fc856e99ca 135 }
nucho 0:06fc856e99ca 136 return offset;
nucho 0:06fc856e99ca 137 }
nucho 0:06fc856e99ca 138
nucho 3:dff241b66f84 139 virtual const char * getType(){ return "sensor_msgs/Imu"; };
nucho 3:dff241b66f84 140 virtual const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
nucho 0:06fc856e99ca 141
nucho 0:06fc856e99ca 142 };
nucho 0:06fc856e99ca 143
nucho 0:06fc856e99ca 144 }
nucho 0:06fc856e99ca 145 #endif