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sensor_msgs/Imu.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#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