Diff: sensor_msgs/Imu.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Imu.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,162 @@
+#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;
+      double orientation_covariance[9];
+      geometry_msgs::Vector3 angular_velocity;
+      double angular_velocity_covariance[9];
+      geometry_msgs::Vector3 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( uint8_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( uint8_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( uint8_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( uint8_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( uint8_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( uint8_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
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