Go to the documentation of this file.00001 #ifndef ros_sensor_msgs_Imu_h
00002 #define ros_sensor_msgs_Imu_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "../ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 #include "geometry_msgs/Quaternion.h"
00010 #include "geometry_msgs/Vector3.h"
00011
00012 namespace sensor_msgs
00013 {
00014
00015 class Imu : public ros::Msg
00016 {
00017 public:
00018 std_msgs::Header header;
00019 geometry_msgs::Quaternion orientation;
00020 float orientation_covariance[9];
00021 geometry_msgs::Vector3 angular_velocity;
00022 float angular_velocity_covariance[9];
00023 geometry_msgs::Vector3 linear_acceleration;
00024 float linear_acceleration_covariance[9];
00025
00026 virtual int serialize(unsigned char *outbuffer)
00027 {
00028 int offset = 0;
00029 offset += this->header.serialize(outbuffer + offset);
00030 offset += this->orientation.serialize(outbuffer + offset);
00031 unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;
00032 for( unsigned char i = 0; i < 9; i++){
00033 long * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]);
00034 long exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);
00035 if(exp_orientation_covariancei != 0)
00036 exp_orientation_covariancei += 1023-127;
00037 long sig_orientation_covariancei = *val_orientation_covariancei;
00038 *(outbuffer + offset++) = 0;
00039 *(outbuffer + offset++) = 0;
00040 *(outbuffer + offset++) = 0;
00041 *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff;
00042 *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff;
00043 *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff;
00044 *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F);
00045 *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F;
00046 if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00047 }
00048 offset += this->angular_velocity.serialize(outbuffer + offset);
00049 unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;
00050 for( unsigned char i = 0; i < 9; i++){
00051 long * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]);
00052 long exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);
00053 if(exp_angular_velocity_covariancei != 0)
00054 exp_angular_velocity_covariancei += 1023-127;
00055 long sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;
00056 *(outbuffer + offset++) = 0;
00057 *(outbuffer + offset++) = 0;
00058 *(outbuffer + offset++) = 0;
00059 *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff;
00060 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff;
00061 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff;
00062 *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F);
00063 *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F;
00064 if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00065 }
00066 offset += this->linear_acceleration.serialize(outbuffer + offset);
00067 unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;
00068 for( unsigned char i = 0; i < 9; i++){
00069 long * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]);
00070 long exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);
00071 if(exp_linear_acceleration_covariancei != 0)
00072 exp_linear_acceleration_covariancei += 1023-127;
00073 long sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;
00074 *(outbuffer + offset++) = 0;
00075 *(outbuffer + offset++) = 0;
00076 *(outbuffer + offset++) = 0;
00077 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff;
00078 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff;
00079 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff;
00080 *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F);
00081 *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F;
00082 if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00083 }
00084 return offset;
00085 }
00086
00087 virtual int deserialize(unsigned char *inbuffer)
00088 {
00089 int offset = 0;
00090 offset += this->header.deserialize(inbuffer + offset);
00091 offset += this->orientation.deserialize(inbuffer + offset);
00092 unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;
00093 for( unsigned char i = 0; i < 9; i++){
00094 unsigned long * val_orientation_covariancei = (unsigned long*) &(this->orientation_covariance[i]);
00095 offset += 3;
00096 *val_orientation_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00097 *val_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00098 *val_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00099 *val_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00100 unsigned long exp_orientation_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00101 exp_orientation_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00102 if(exp_orientation_covariancei !=0)
00103 *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23;
00104 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i];
00105 }
00106 offset += this->angular_velocity.deserialize(inbuffer + offset);
00107 unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;
00108 for( unsigned char i = 0; i < 9; i++){
00109 unsigned long * val_angular_velocity_covariancei = (unsigned long*) &(this->angular_velocity_covariance[i]);
00110 offset += 3;
00111 *val_angular_velocity_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00112 *val_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00113 *val_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00114 *val_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00115 unsigned long exp_angular_velocity_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00116 exp_angular_velocity_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00117 if(exp_angular_velocity_covariancei !=0)
00118 *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23;
00119 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i];
00120 }
00121 offset += this->linear_acceleration.deserialize(inbuffer + offset);
00122 unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;
00123 for( unsigned char i = 0; i < 9; i++){
00124 unsigned long * val_linear_acceleration_covariancei = (unsigned long*) &(this->linear_acceleration_covariance[i]);
00125 offset += 3;
00126 *val_linear_acceleration_covariancei = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
00127 *val_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
00128 *val_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
00129 *val_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
00130 unsigned long exp_linear_acceleration_covariancei = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
00131 exp_linear_acceleration_covariancei |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
00132 if(exp_linear_acceleration_covariancei !=0)
00133 *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23;
00134 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i];
00135 }
00136 return offset;
00137 }
00138
00139 const char * getType(){ return "sensor_msgs/Imu"; };
00140
00141 };
00142
00143 }
00144 #endif
