ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

sensor_msgs/Imu.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_sensor_msgs_Imu_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_Imu_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9 #include "geometry_msgs/Quaternion.h"
garyservin 0:fd24f7ca9688 10 #include "geometry_msgs/Vector3.h"
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 namespace sensor_msgs
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14
garyservin 0:fd24f7ca9688 15 class Imu : public ros::Msg
garyservin 0:fd24f7ca9688 16 {
garyservin 0:fd24f7ca9688 17 public:
garyservin 0:fd24f7ca9688 18 std_msgs::Header header;
garyservin 0:fd24f7ca9688 19 geometry_msgs::Quaternion orientation;
garyservin 0:fd24f7ca9688 20 double orientation_covariance[9];
garyservin 0:fd24f7ca9688 21 geometry_msgs::Vector3 angular_velocity;
garyservin 0:fd24f7ca9688 22 double angular_velocity_covariance[9];
garyservin 0:fd24f7ca9688 23 geometry_msgs::Vector3 linear_acceleration;
garyservin 0:fd24f7ca9688 24 double linear_acceleration_covariance[9];
garyservin 0:fd24f7ca9688 25
garyservin 0:fd24f7ca9688 26 Imu():
garyservin 0:fd24f7ca9688 27 header(),
garyservin 0:fd24f7ca9688 28 orientation(),
garyservin 0:fd24f7ca9688 29 orientation_covariance(),
garyservin 0:fd24f7ca9688 30 angular_velocity(),
garyservin 0:fd24f7ca9688 31 angular_velocity_covariance(),
garyservin 0:fd24f7ca9688 32 linear_acceleration(),
garyservin 0:fd24f7ca9688 33 linear_acceleration_covariance()
garyservin 0:fd24f7ca9688 34 {
garyservin 0:fd24f7ca9688 35 }
garyservin 0:fd24f7ca9688 36
garyservin 0:fd24f7ca9688 37 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 38 {
garyservin 0:fd24f7ca9688 39 int offset = 0;
garyservin 0:fd24f7ca9688 40 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 41 offset += this->orientation.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 42 for( uint8_t i = 0; i < 9; i++){
garyservin 0:fd24f7ca9688 43 union {
garyservin 0:fd24f7ca9688 44 double real;
garyservin 0:fd24f7ca9688 45 uint64_t base;
garyservin 0:fd24f7ca9688 46 } u_orientation_covariancei;
garyservin 0:fd24f7ca9688 47 u_orientation_covariancei.real = this->orientation_covariance[i];
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 56 offset += sizeof(this->orientation_covariance[i]);
garyservin 0:fd24f7ca9688 57 }
garyservin 0:fd24f7ca9688 58 offset += this->angular_velocity.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 59 for( uint8_t i = 0; i < 9; i++){
garyservin 0:fd24f7ca9688 60 union {
garyservin 0:fd24f7ca9688 61 double real;
garyservin 0:fd24f7ca9688 62 uint64_t base;
garyservin 0:fd24f7ca9688 63 } u_angular_velocity_covariancei;
garyservin 0:fd24f7ca9688 64 u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 73 offset += sizeof(this->angular_velocity_covariance[i]);
garyservin 0:fd24f7ca9688 74 }
garyservin 0:fd24f7ca9688 75 offset += this->linear_acceleration.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 76 for( uint8_t i = 0; i < 9; i++){
garyservin 0:fd24f7ca9688 77 union {
garyservin 0:fd24f7ca9688 78 double real;
garyservin 0:fd24f7ca9688 79 uint64_t base;
garyservin 0:fd24f7ca9688 80 } u_linear_acceleration_covariancei;
garyservin 0:fd24f7ca9688 81 u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
garyservin 0:fd24f7ca9688 82 *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 83 *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 84 *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 85 *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 86 *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 87 *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 88 *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 89 *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 90 offset += sizeof(this->linear_acceleration_covariance[i]);
garyservin 0:fd24f7ca9688 91 }
garyservin 0:fd24f7ca9688 92 return offset;
garyservin 0:fd24f7ca9688 93 }
garyservin 0:fd24f7ca9688 94
garyservin 0:fd24f7ca9688 95 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 96 {
garyservin 0:fd24f7ca9688 97 int offset = 0;
garyservin 0:fd24f7ca9688 98 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 99 offset += this->orientation.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 100 for( uint8_t i = 0; i < 9; i++){
garyservin 0:fd24f7ca9688 101 union {
garyservin 0:fd24f7ca9688 102 double real;
garyservin 0:fd24f7ca9688 103 uint64_t base;
garyservin 0:fd24f7ca9688 104 } u_orientation_covariancei;
garyservin 0:fd24f7ca9688 105 u_orientation_covariancei.base = 0;
garyservin 0:fd24f7ca9688 106 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 107 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 108 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 109 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 110 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 111 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 112 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 113 u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 114 this->orientation_covariance[i] = u_orientation_covariancei.real;
garyservin 0:fd24f7ca9688 115 offset += sizeof(this->orientation_covariance[i]);
garyservin 0:fd24f7ca9688 116 }
garyservin 0:fd24f7ca9688 117 offset += this->angular_velocity.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 118 for( uint8_t i = 0; i < 9; i++){
garyservin 0:fd24f7ca9688 119 union {
garyservin 0:fd24f7ca9688 120 double real;
garyservin 0:fd24f7ca9688 121 uint64_t base;
garyservin 0:fd24f7ca9688 122 } u_angular_velocity_covariancei;
garyservin 0:fd24f7ca9688 123 u_angular_velocity_covariancei.base = 0;
garyservin 0:fd24f7ca9688 124 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 125 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 126 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 127 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 128 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 129 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 130 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 131 u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 132 this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
garyservin 0:fd24f7ca9688 133 offset += sizeof(this->angular_velocity_covariance[i]);
garyservin 0:fd24f7ca9688 134 }
garyservin 0:fd24f7ca9688 135 offset += this->linear_acceleration.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 136 for( uint8_t i = 0; i < 9; i++){
garyservin 0:fd24f7ca9688 137 union {
garyservin 0:fd24f7ca9688 138 double real;
garyservin 0:fd24f7ca9688 139 uint64_t base;
garyservin 0:fd24f7ca9688 140 } u_linear_acceleration_covariancei;
garyservin 0:fd24f7ca9688 141 u_linear_acceleration_covariancei.base = 0;
garyservin 0:fd24f7ca9688 142 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 143 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 144 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 145 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 146 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 147 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 148 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 149 u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 150 this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
garyservin 0:fd24f7ca9688 151 offset += sizeof(this->linear_acceleration_covariance[i]);
garyservin 0:fd24f7ca9688 152 }
garyservin 0:fd24f7ca9688 153 return offset;
garyservin 0:fd24f7ca9688 154 }
garyservin 0:fd24f7ca9688 155
garyservin 0:fd24f7ca9688 156 const char * getType(){ return "sensor_msgs/Imu"; };
garyservin 0:fd24f7ca9688 157 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
garyservin 0:fd24f7ca9688 158
garyservin 0:fd24f7ca9688 159 };
garyservin 0:fd24f7ca9688 160
garyservin 0:fd24f7ca9688 161 }
garyservin 0:fd24f7ca9688 162 #endif