340 lines
11 KiB
C++
340 lines
11 KiB
C++
// Generated by gencpp from file sensor_msgs/Imu.msg
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// DO NOT EDIT!
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#ifndef SENSOR_MSGS_MESSAGE_IMU_H
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#define SENSOR_MSGS_MESSAGE_IMU_H
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#include <string>
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#include <vector>
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#include <ros/types.h>
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#include <ros/serialization.h>
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#include <ros/builtin_message_traits.h>
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#include <ros/message_operations.h>
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#include <std_msgs/Header.h>
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#include <geometry_msgs/Quaternion.h>
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#include <geometry_msgs/Vector3.h>
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#include <geometry_msgs/Vector3.h>
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namespace sensor_msgs
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{
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template <class ContainerAllocator>
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struct Imu_
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{
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typedef Imu_<ContainerAllocator> Type;
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Imu_()
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: header()
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, orientation()
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, orientation_covariance()
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, angular_velocity()
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, angular_velocity_covariance()
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, linear_acceleration()
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, linear_acceleration_covariance() {
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orientation_covariance.assign(0.0);
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angular_velocity_covariance.assign(0.0);
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linear_acceleration_covariance.assign(0.0);
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}
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Imu_(const ContainerAllocator& _alloc)
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: header(_alloc)
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, orientation(_alloc)
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, orientation_covariance()
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, angular_velocity(_alloc)
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, angular_velocity_covariance()
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, linear_acceleration(_alloc)
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, linear_acceleration_covariance() {
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(void)_alloc;
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orientation_covariance.assign(0.0);
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angular_velocity_covariance.assign(0.0);
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linear_acceleration_covariance.assign(0.0);
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}
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typedef ::std_msgs::Header_<ContainerAllocator> _header_type;
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_header_type header;
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typedef ::geometry_msgs::Quaternion_<ContainerAllocator> _orientation_type;
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_orientation_type orientation;
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typedef boost::array<double, 9> _orientation_covariance_type;
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_orientation_covariance_type orientation_covariance;
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typedef ::geometry_msgs::Vector3_<ContainerAllocator> _angular_velocity_type;
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_angular_velocity_type angular_velocity;
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typedef boost::array<double, 9> _angular_velocity_covariance_type;
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_angular_velocity_covariance_type angular_velocity_covariance;
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typedef ::geometry_msgs::Vector3_<ContainerAllocator> _linear_acceleration_type;
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_linear_acceleration_type linear_acceleration;
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typedef boost::array<double, 9> _linear_acceleration_covariance_type;
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_linear_acceleration_covariance_type linear_acceleration_covariance;
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typedef boost::shared_ptr< ::sensor_msgs::Imu_<ContainerAllocator> > Ptr;
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typedef boost::shared_ptr< ::sensor_msgs::Imu_<ContainerAllocator> const> ConstPtr;
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}; // struct Imu_
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typedef ::sensor_msgs::Imu_<std::allocator<void> > Imu;
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typedef boost::shared_ptr< ::sensor_msgs::Imu > ImuPtr;
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typedef boost::shared_ptr< ::sensor_msgs::Imu const> ImuConstPtr;
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// constants requiring out of line definition
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template<typename ContainerAllocator>
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std::ostream& operator<<(std::ostream& s, const ::sensor_msgs::Imu_<ContainerAllocator> & v)
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{
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ros::message_operations::Printer< ::sensor_msgs::Imu_<ContainerAllocator> >::stream(s, "", v);
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return s;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator==(const ::sensor_msgs::Imu_<ContainerAllocator1> & lhs, const ::sensor_msgs::Imu_<ContainerAllocator2> & rhs)
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{
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return lhs.header == rhs.header &&
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lhs.orientation == rhs.orientation &&
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lhs.orientation_covariance == rhs.orientation_covariance &&
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lhs.angular_velocity == rhs.angular_velocity &&
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lhs.angular_velocity_covariance == rhs.angular_velocity_covariance &&
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lhs.linear_acceleration == rhs.linear_acceleration &&
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lhs.linear_acceleration_covariance == rhs.linear_acceleration_covariance;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator!=(const ::sensor_msgs::Imu_<ContainerAllocator1> & lhs, const ::sensor_msgs::Imu_<ContainerAllocator2> & rhs)
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{
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return !(lhs == rhs);
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}
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} // namespace sensor_msgs
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namespace ros
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{
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namespace message_traits
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{
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template <class ContainerAllocator>
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struct IsMessage< ::sensor_msgs::Imu_<ContainerAllocator> >
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct IsMessage< ::sensor_msgs::Imu_<ContainerAllocator> const>
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct IsFixedSize< ::sensor_msgs::Imu_<ContainerAllocator> >
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: FalseType
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{ };
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template <class ContainerAllocator>
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struct IsFixedSize< ::sensor_msgs::Imu_<ContainerAllocator> const>
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: FalseType
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{ };
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template <class ContainerAllocator>
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struct HasHeader< ::sensor_msgs::Imu_<ContainerAllocator> >
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct HasHeader< ::sensor_msgs::Imu_<ContainerAllocator> const>
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: TrueType
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{ };
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template<class ContainerAllocator>
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struct MD5Sum< ::sensor_msgs::Imu_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "6a62c6daae103f4ff57a132d6f95cec2";
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}
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static const char* value(const ::sensor_msgs::Imu_<ContainerAllocator>&) { return value(); }
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static const uint64_t static_value1 = 0x6a62c6daae103f4fULL;
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static const uint64_t static_value2 = 0xf57a132d6f95cec2ULL;
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};
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template<class ContainerAllocator>
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struct DataType< ::sensor_msgs::Imu_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "sensor_msgs/Imu";
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}
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static const char* value(const ::sensor_msgs::Imu_<ContainerAllocator>&) { return value(); }
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};
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template<class ContainerAllocator>
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struct Definition< ::sensor_msgs::Imu_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "# This is a message to hold data from an IMU (Inertial Measurement Unit)\n"
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"#\n"
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"# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec\n"
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"#\n"
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"# If the covariance of the measurement is known, it should be filled in (if all you know is the \n"
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"# variance of each measurement, e.g. from the datasheet, just put those along the diagonal)\n"
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"# A covariance matrix of all zeros will be interpreted as \"covariance unknown\", and to use the\n"
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"# data a covariance will have to be assumed or gotten from some other source\n"
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"#\n"
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"# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation \n"
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"# estimate), please set element 0 of the associated covariance matrix to -1\n"
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"# If you are interpreting this message, please check for a value of -1 in the first element of each \n"
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"# covariance matrix, and disregard the associated estimate.\n"
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"\n"
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"Header header\n"
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"\n"
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"geometry_msgs/Quaternion orientation\n"
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"float64[9] orientation_covariance # Row major about x, y, z axes\n"
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"\n"
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"geometry_msgs/Vector3 angular_velocity\n"
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"float64[9] angular_velocity_covariance # Row major about x, y, z axes\n"
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"\n"
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"geometry_msgs/Vector3 linear_acceleration\n"
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"float64[9] linear_acceleration_covariance # Row major x, y z \n"
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"\n"
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"================================================================================\n"
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"MSG: std_msgs/Header\n"
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"# Standard metadata for higher-level stamped data types.\n"
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"# This is generally used to communicate timestamped data \n"
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"# in a particular coordinate frame.\n"
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"# \n"
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"# sequence ID: consecutively increasing ID \n"
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"uint32 seq\n"
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"#Two-integer timestamp that is expressed as:\n"
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"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n"
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"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n"
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"# time-handling sugar is provided by the client library\n"
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"time stamp\n"
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"#Frame this data is associated with\n"
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"string frame_id\n"
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"\n"
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"================================================================================\n"
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"MSG: geometry_msgs/Quaternion\n"
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"# This represents an orientation in free space in quaternion form.\n"
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"\n"
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"float64 x\n"
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"float64 y\n"
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"float64 z\n"
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"float64 w\n"
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"\n"
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"================================================================================\n"
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"MSG: geometry_msgs/Vector3\n"
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"# This represents a vector in free space. \n"
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"# It is only meant to represent a direction. Therefore, it does not\n"
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"# make sense to apply a translation to it (e.g., when applying a \n"
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"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
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"# rotation). If you want your data to be translatable too, use the\n"
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"# geometry_msgs/Point message instead.\n"
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"\n"
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"float64 x\n"
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"float64 y\n"
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"float64 z\n"
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;
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}
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static const char* value(const ::sensor_msgs::Imu_<ContainerAllocator>&) { return value(); }
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};
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} // namespace message_traits
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} // namespace ros
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namespace ros
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{
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namespace serialization
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{
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template<class ContainerAllocator> struct Serializer< ::sensor_msgs::Imu_<ContainerAllocator> >
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{
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template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
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{
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stream.next(m.header);
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stream.next(m.orientation);
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stream.next(m.orientation_covariance);
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stream.next(m.angular_velocity);
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stream.next(m.angular_velocity_covariance);
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stream.next(m.linear_acceleration);
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stream.next(m.linear_acceleration_covariance);
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}
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ROS_DECLARE_ALLINONE_SERIALIZER
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}; // struct Imu_
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} // namespace serialization
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} // namespace ros
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namespace ros
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{
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namespace message_operations
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{
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template<class ContainerAllocator>
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struct Printer< ::sensor_msgs::Imu_<ContainerAllocator> >
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{
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template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sensor_msgs::Imu_<ContainerAllocator>& v)
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{
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s << indent << "header: ";
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s << std::endl;
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Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
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s << indent << "orientation: ";
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s << std::endl;
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Printer< ::geometry_msgs::Quaternion_<ContainerAllocator> >::stream(s, indent + " ", v.orientation);
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s << indent << "orientation_covariance[]" << std::endl;
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for (size_t i = 0; i < v.orientation_covariance.size(); ++i)
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{
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s << indent << " orientation_covariance[" << i << "]: ";
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Printer<double>::stream(s, indent + " ", v.orientation_covariance[i]);
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}
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s << indent << "angular_velocity: ";
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s << std::endl;
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Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + " ", v.angular_velocity);
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s << indent << "angular_velocity_covariance[]" << std::endl;
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for (size_t i = 0; i < v.angular_velocity_covariance.size(); ++i)
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{
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s << indent << " angular_velocity_covariance[" << i << "]: ";
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Printer<double>::stream(s, indent + " ", v.angular_velocity_covariance[i]);
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}
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s << indent << "linear_acceleration: ";
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s << std::endl;
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Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + " ", v.linear_acceleration);
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s << indent << "linear_acceleration_covariance[]" << std::endl;
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for (size_t i = 0; i < v.linear_acceleration_covariance.size(); ++i)
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{
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s << indent << " linear_acceleration_covariance[" << i << "]: ";
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Printer<double>::stream(s, indent + " ", v.linear_acceleration_covariance[i]);
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}
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}
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};
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} // namespace message_operations
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} // namespace ros
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#endif // SENSOR_MSGS_MESSAGE_IMU_H
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