root / quad2 / arduino / src / ros_lib / sensor_msgs / Imu.h @ c1426757
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1 | c1426757 | Tom Mullins | #ifndef _ROS_sensor_msgs_Imu_h
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2 | #define _ROS_sensor_msgs_Imu_h
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3 | |||
4 | #include <stdint.h> |
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5 | #include <string.h> |
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6 | #include <stdlib.h> |
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7 | #include "ros/msg.h" |
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8 | #include "std_msgs/Header.h" |
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9 | #include "geometry_msgs/Quaternion.h" |
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10 | #include "geometry_msgs/Vector3.h" |
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11 | |||
12 | namespace sensor_msgs |
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13 | { |
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14 | |||
15 | class Imu : public ros::Msg |
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16 | { |
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17 | public:
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18 | std_msgs::Header header; |
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19 | geometry_msgs::Quaternion orientation; |
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20 | float orientation_covariance[9]; |
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21 | geometry_msgs::Vector3 angular_velocity; |
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22 | float angular_velocity_covariance[9]; |
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23 | geometry_msgs::Vector3 linear_acceleration; |
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24 | float linear_acceleration_covariance[9]; |
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25 | |||
26 | virtual int serialize(unsigned char *outbuffer) const |
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27 | { |
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28 | int offset = 0; |
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29 | offset += this->header.serialize(outbuffer + offset); |
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30 | offset += this->orientation.serialize(outbuffer + offset); |
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31 | unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance; |
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32 | for( uint8_t i = 0; i < 9; i++){ |
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33 | int32_t * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]);
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34 | int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255); |
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35 | if(exp_orientation_covariancei != 0) |
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36 | exp_orientation_covariancei += 1023-127; |
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37 | int32_t sig_orientation_covariancei = *val_orientation_covariancei; |
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38 | *(outbuffer + offset++) = 0;
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39 | *(outbuffer + offset++) = 0;
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40 | *(outbuffer + offset++) = 0;
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41 | *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff; |
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42 | *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff; |
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43 | *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff; |
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44 | *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F); |
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45 | *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F; |
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46 | if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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47 | } |
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48 | offset += this->angular_velocity.serialize(outbuffer + offset); |
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49 | unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance; |
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50 | for( uint8_t i = 0; i < 9; i++){ |
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51 | int32_t * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]);
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52 | int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255); |
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53 | if(exp_angular_velocity_covariancei != 0) |
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54 | exp_angular_velocity_covariancei += 1023-127; |
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55 | int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei; |
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56 | *(outbuffer + offset++) = 0;
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57 | *(outbuffer + offset++) = 0;
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58 | *(outbuffer + offset++) = 0;
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59 | *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff; |
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60 | *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff; |
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61 | *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff; |
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62 | *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F); |
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63 | *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F; |
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64 | if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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65 | } |
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66 | offset += this->linear_acceleration.serialize(outbuffer + offset); |
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67 | unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance; |
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68 | for( uint8_t i = 0; i < 9; i++){ |
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69 | int32_t * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]);
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70 | int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255); |
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71 | if(exp_linear_acceleration_covariancei != 0) |
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72 | exp_linear_acceleration_covariancei += 1023-127; |
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73 | int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei; |
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74 | *(outbuffer + offset++) = 0;
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75 | *(outbuffer + offset++) = 0;
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76 | *(outbuffer + offset++) = 0;
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77 | *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff; |
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78 | *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff; |
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79 | *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff; |
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80 | *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F); |
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81 | *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F; |
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82 | if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80; |
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83 | } |
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84 | return offset;
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85 | } |
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86 | |||
87 | virtual int deserialize(unsigned char *inbuffer) |
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88 | { |
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89 | int offset = 0; |
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90 | offset += this->header.deserialize(inbuffer + offset); |
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91 | offset += this->orientation.deserialize(inbuffer + offset); |
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92 | uint8_t * orientation_covariance_val = (uint8_t*) this->orientation_covariance; |
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93 | for( uint8_t i = 0; i < 9; i++){ |
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94 | uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]); |
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95 | offset += 3;
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96 | *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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97 | *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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98 | *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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99 | *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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100 | uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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101 | exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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102 | if(exp_orientation_covariancei !=0) |
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103 | *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23; |
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104 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i]; |
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105 | } |
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106 | offset += this->angular_velocity.deserialize(inbuffer + offset); |
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107 | uint8_t * angular_velocity_covariance_val = (uint8_t*) this->angular_velocity_covariance; |
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108 | for( uint8_t i = 0; i < 9; i++){ |
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109 | uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]); |
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110 | offset += 3;
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111 | *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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112 | *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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113 | *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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114 | *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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115 | uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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116 | exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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117 | if(exp_angular_velocity_covariancei !=0) |
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118 | *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23; |
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119 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i]; |
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120 | } |
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121 | offset += this->linear_acceleration.deserialize(inbuffer + offset); |
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122 | uint8_t * linear_acceleration_covariance_val = (uint8_t*) this->linear_acceleration_covariance; |
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123 | for( uint8_t i = 0; i < 9; i++){ |
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124 | uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]); |
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125 | offset += 3;
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126 | *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); |
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127 | *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; |
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128 | *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; |
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129 | *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; |
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130 | uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; |
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131 | exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; |
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132 | if(exp_linear_acceleration_covariancei !=0) |
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133 | *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23; |
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134 | if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i]; |
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135 | } |
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136 | return offset;
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137 | } |
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138 | |||
139 | const char * getType(){ return "sensor_msgs/Imu"; }; |
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140 | const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; }; |
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141 | |||
142 | }; |
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143 | |||
144 | } |
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145 | #endif |