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) const
00027 {
00028 int offset = 0;
00029 offset += this->header.serialize(outbuffer + offset);
00030 offset += this->orientation.serialize(outbuffer + offset);
00031 for( uint8_t i = 0; i < 9; i++){
00032 int32_t * val_orientation_covariancei = (int32_t *) &(this->orientation_covariance[i]);
00033 int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);
00034 if(exp_orientation_covariancei != 0)
00035 exp_orientation_covariancei += 1023-127;
00036 int32_t sig_orientation_covariancei = *val_orientation_covariancei;
00037 *(outbuffer + offset++) = 0;
00038 *(outbuffer + offset++) = 0;
00039 *(outbuffer + offset++) = 0;
00040 *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff;
00041 *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff;
00042 *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff;
00043 *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F);
00044 *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F;
00045 if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00046 }
00047 offset += this->angular_velocity.serialize(outbuffer + offset);
00048 for( uint8_t i = 0; i < 9; i++){
00049 int32_t * val_angular_velocity_covariancei = (int32_t *) &(this->angular_velocity_covariance[i]);
00050 int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);
00051 if(exp_angular_velocity_covariancei != 0)
00052 exp_angular_velocity_covariancei += 1023-127;
00053 int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;
00054 *(outbuffer + offset++) = 0;
00055 *(outbuffer + offset++) = 0;
00056 *(outbuffer + offset++) = 0;
00057 *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff;
00058 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff;
00059 *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff;
00060 *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F);
00061 *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F;
00062 if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00063 }
00064 offset += this->linear_acceleration.serialize(outbuffer + offset);
00065 for( uint8_t i = 0; i < 9; i++){
00066 int32_t * val_linear_acceleration_covariancei = (int32_t *) &(this->linear_acceleration_covariance[i]);
00067 int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);
00068 if(exp_linear_acceleration_covariancei != 0)
00069 exp_linear_acceleration_covariancei += 1023-127;
00070 int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;
00071 *(outbuffer + offset++) = 0;
00072 *(outbuffer + offset++) = 0;
00073 *(outbuffer + offset++) = 0;
00074 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff;
00075 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff;
00076 *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff;
00077 *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F);
00078 *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F;
00079 if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
00080 }
00081 return offset;
00082 }
00083
00084 virtual int deserialize(unsigned char *inbuffer)
00085 {
00086 int offset = 0;
00087 offset += this->header.deserialize(inbuffer + offset);
00088 offset += this->orientation.deserialize(inbuffer + offset);
00089 for( uint8_t i = 0; i < 9; i++){
00090 uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]);
00091 offset += 3;
00092 *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00093 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00094 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00095 *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00096 uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00097 exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00098 if(exp_orientation_covariancei !=0)
00099 *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23;
00100 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i];
00101 }
00102 offset += this->angular_velocity.deserialize(inbuffer + offset);
00103 for( uint8_t i = 0; i < 9; i++){
00104 uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]);
00105 offset += 3;
00106 *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00107 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00108 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00109 *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00110 uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00111 exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00112 if(exp_angular_velocity_covariancei !=0)
00113 *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23;
00114 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i];
00115 }
00116 offset += this->linear_acceleration.deserialize(inbuffer + offset);
00117 for( uint8_t i = 0; i < 9; i++){
00118 uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]);
00119 offset += 3;
00120 *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00121 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00122 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00123 *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00124 uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00125 exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00126 if(exp_linear_acceleration_covariancei !=0)
00127 *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23;
00128 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i];
00129 }
00130 return offset;
00131 }
00132
00133 const char * getType(){ return "sensor_msgs/Imu"; };
00134 const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
00135
00136 };
00137
00138 }
00139 #endif