Quadrotor

#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;

      float orientation_covariance[9];

      geometry_msgs::Vector3 angular_velocity;

      float angular_velocity_covariance[9];

      geometry_msgs::Vector3 linear_acceleration;

      float linear_acceleration_covariance[9];

    virtual int serialize(unsigned char *outbuffer) const

    {

      int offset = 0;

      offset += this->header.serialize(outbuffer + offset);

      offset += this->orientation.serialize(outbuffer + offset);

      unsigned char * orientation_covariance_val = (unsigned char *) this->orientation_covariance;

      for( uint8_t i = 0; i < 9; i++){

      int32_t * val_orientation_covariancei = (long *) &(this->orientation_covariance[i]);

      int32_t exp_orientation_covariancei = (((*val_orientation_covariancei)>>23)&255);

      if(exp_orientation_covariancei != 0)

        exp_orientation_covariancei += 1023-127;

      int32_t sig_orientation_covariancei = *val_orientation_covariancei;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_orientation_covariancei<<5) & 0xff;

      *(outbuffer + offset++) = (sig_orientation_covariancei>>3) & 0xff;

      *(outbuffer + offset++) = (sig_orientation_covariancei>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_orientation_covariancei<<4) & 0xF0) | ((sig_orientation_covariancei>>19)&0x0F);

      *(outbuffer + offset++) = (exp_orientation_covariancei>>4) & 0x7F;

      if(this->orientation_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      offset += this->angular_velocity.serialize(outbuffer + offset);

      unsigned char * angular_velocity_covariance_val = (unsigned char *) this->angular_velocity_covariance;

      for( uint8_t i = 0; i < 9; i++){

      int32_t * val_angular_velocity_covariancei = (long *) &(this->angular_velocity_covariance[i]);

      int32_t exp_angular_velocity_covariancei = (((*val_angular_velocity_covariancei)>>23)&255);

      if(exp_angular_velocity_covariancei != 0)

        exp_angular_velocity_covariancei += 1023-127;

      int32_t sig_angular_velocity_covariancei = *val_angular_velocity_covariancei;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_angular_velocity_covariancei<<5) & 0xff;

      *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>3) & 0xff;

      *(outbuffer + offset++) = (sig_angular_velocity_covariancei>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_angular_velocity_covariancei<<4) & 0xF0) | ((sig_angular_velocity_covariancei>>19)&0x0F);

      *(outbuffer + offset++) = (exp_angular_velocity_covariancei>>4) & 0x7F;

      if(this->angular_velocity_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      offset += this->linear_acceleration.serialize(outbuffer + offset);

      unsigned char * linear_acceleration_covariance_val = (unsigned char *) this->linear_acceleration_covariance;

      for( uint8_t i = 0; i < 9; i++){

      int32_t * val_linear_acceleration_covariancei = (long *) &(this->linear_acceleration_covariance[i]);

      int32_t exp_linear_acceleration_covariancei = (((*val_linear_acceleration_covariancei)>>23)&255);

      if(exp_linear_acceleration_covariancei != 0)

        exp_linear_acceleration_covariancei += 1023-127;

      int32_t sig_linear_acceleration_covariancei = *val_linear_acceleration_covariancei;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = 0;

      *(outbuffer + offset++) = (sig_linear_acceleration_covariancei<<5) & 0xff;

      *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>3) & 0xff;

      *(outbuffer + offset++) = (sig_linear_acceleration_covariancei>>11) & 0xff;

      *(outbuffer + offset++) = ((exp_linear_acceleration_covariancei<<4) & 0xF0) | ((sig_linear_acceleration_covariancei>>19)&0x0F);

      *(outbuffer + offset++) = (exp_linear_acceleration_covariancei>>4) & 0x7F;

      if(this->linear_acceleration_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;

      }

      return offset;

    }

    virtual int deserialize(unsigned char *inbuffer)

    {

      int offset = 0;

      offset += this->header.deserialize(inbuffer + offset);

      offset += this->orientation.deserialize(inbuffer + offset);

      uint8_t * orientation_covariance_val = (uint8_t*) this->orientation_covariance;

      for( uint8_t i = 0; i < 9; i++){

      uint32_t * val_orientation_covariancei = (uint32_t*) &(this->orientation_covariance[i]);

      offset += 3;

      *val_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_orientation_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_orientation_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_orientation_covariancei !=0)

        *val_orientation_covariancei |= ((exp_orientation_covariancei)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->orientation_covariance[i] = -this->orientation_covariance[i];

      }

      offset += this->angular_velocity.deserialize(inbuffer + offset);

      uint8_t * angular_velocity_covariance_val = (uint8_t*) this->angular_velocity_covariance;

      for( uint8_t i = 0; i < 9; i++){

      uint32_t * val_angular_velocity_covariancei = (uint32_t*) &(this->angular_velocity_covariance[i]);

      offset += 3;

      *val_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_angular_velocity_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_angular_velocity_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_angular_velocity_covariancei !=0)

        *val_angular_velocity_covariancei |= ((exp_angular_velocity_covariancei)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->angular_velocity_covariance[i] = -this->angular_velocity_covariance[i];

      }

      offset += this->linear_acceleration.deserialize(inbuffer + offset);

      uint8_t * linear_acceleration_covariance_val = (uint8_t*) this->linear_acceleration_covariance;

      for( uint8_t i = 0; i < 9; i++){

      uint32_t * val_linear_acceleration_covariancei = (uint32_t*) &(this->linear_acceleration_covariance[i]);

      offset += 3;

      *val_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);

      *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;

      *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;

      *val_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;

      uint32_t exp_linear_acceleration_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;

      exp_linear_acceleration_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;

      if(exp_linear_acceleration_covariancei !=0)

        *val_linear_acceleration_covariancei |= ((exp_linear_acceleration_covariancei)-1023+127)<<23;

      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->linear_acceleration_covariance[i] = -this->linear_acceleration_covariance[i];

      }

     return offset;

    }

    const char * getType(){ return "sensor_msgs/Imu"; };

    const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };

  };

}

#endif