# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from sensor_msgs/Imu.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import geometry_msgs.msg
import std_msgs.msg
class Imu(genpy.Message):
_md5sum = "6a62c6daae103f4ff57a132d6f95cec2"
_type = "sensor_msgs/Imu"
_has_header = True # flag to mark the presence of a Header object
_full_text = """# This is a message to hold data from an IMU (Inertial Measurement Unit)
#
# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec
#
# If the covariance of the measurement is known, it should be filled in (if all you know is the
# variance of each measurement, e.g. from the datasheet, just put those along the diagonal)
# A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the
# data a covariance will have to be assumed or gotten from some other source
#
# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation
# estimate), please set element 0 of the associated covariance matrix to -1
# If you are interpreting this message, please check for a value of -1 in the first element of each
# covariance matrix, and disregard the associated estimate.
Header header
geometry_msgs/Quaternion orientation
float64[9] orientation_covariance # Row major about x, y, z axes
geometry_msgs/Vector3 angular_velocity
float64[9] angular_velocity_covariance # Row major about x, y, z axes
geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance # Row major x, y z
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id
================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.
float64 x
float64 y
float64 z
float64 w
================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space.
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.
float64 x
float64 y
float64 z"""
__slots__ = ['header','orientation','orientation_covariance','angular_velocity','angular_velocity_covariance','linear_acceleration','linear_acceleration_covariance']
_slot_types = ['std_msgs/Header','geometry_msgs/Quaternion','float64[9]','geometry_msgs/Vector3','float64[9]','geometry_msgs/Vector3','float64[9]']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
header,orientation,orientation_covariance,angular_velocity,angular_velocity_covariance,linear_acceleration,linear_acceleration_covariance
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(Imu, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.header is None:
self.header = std_msgs.msg.Header()
if self.orientation is None:
self.orientation = geometry_msgs.msg.Quaternion()
if self.orientation_covariance is None:
self.orientation_covariance = [0.] * 9
if self.angular_velocity is None:
self.angular_velocity = geometry_msgs.msg.Vector3()
if self.angular_velocity_covariance is None:
self.angular_velocity_covariance = [0.] * 9
if self.linear_acceleration is None:
self.linear_acceleration = geometry_msgs.msg.Vector3()
if self.linear_acceleration_covariance is None:
self.linear_acceleration_covariance = [0.] * 9
else:
self.header = std_msgs.msg.Header()
self.orientation = geometry_msgs.msg.Quaternion()
self.orientation_covariance = [0.] * 9
self.angular_velocity = geometry_msgs.msg.Vector3()
self.angular_velocity_covariance = [0.] * 9
self.linear_acceleration = geometry_msgs.msg.Vector3()
self.linear_acceleration_covariance = [0.] * 9
def _get_types(self):
"""
internal API method
"""
return self._slot_types
def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
_x = self.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_4d().pack(_x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
buff.write(_get_struct_9d().pack(*self.orientation_covariance))
_x = self
buff.write(_get_struct_3d().pack(_x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z))
buff.write(_get_struct_9d().pack(*self.angular_velocity_covariance))
_x = self
buff.write(_get_struct_3d().pack(_x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z))
buff.write(_get_struct_9d().pack(*self.linear_acceleration_covariance))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
if self.orientation is None:
self.orientation = geometry_msgs.msg.Quaternion()
if self.angular_velocity is None:
self.angular_velocity = geometry_msgs.msg.Vector3()
if self.linear_acceleration is None:
self.linear_acceleration = geometry_msgs.msg.Vector3()
end = 0
_x = self
start = end
end += 12
(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.header.frame_id = str[start:end]
_x = self
start = end
end += 32
(_x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _get_struct_4d().unpack(str[start:end])
start = end
end += 72
self.orientation_covariance = _get_struct_9d().unpack(str[start:end])
_x = self
start = end
end += 24
(_x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z,) = _get_struct_3d().unpack(str[start:end])
start = end
end += 72
self.angular_velocity_covariance = _get_struct_9d().unpack(str[start:end])
_x = self
start = end
end += 24
(_x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z,) = _get_struct_3d().unpack(str[start:end])
start = end
end += 72
self.linear_acceleration_covariance = _get_struct_9d().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
_x = self.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_4d().pack(_x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w))
buff.write(self.orientation_covariance.tostring())
_x = self
buff.write(_get_struct_3d().pack(_x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z))
buff.write(self.angular_velocity_covariance.tostring())
_x = self
buff.write(_get_struct_3d().pack(_x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z))
buff.write(self.linear_acceleration_covariance.tostring())
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.header is None:
self.header = std_msgs.msg.Header()
if self.orientation is None:
self.orientation = geometry_msgs.msg.Quaternion()
if self.angular_velocity is None:
self.angular_velocity = geometry_msgs.msg.Vector3()
if self.linear_acceleration is None:
self.linear_acceleration = geometry_msgs.msg.Vector3()
end = 0
_x = self
start = end
end += 12
(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.header.frame_id = str[start:end]
_x = self
start = end
end += 32
(_x.orientation.x, _x.orientation.y, _x.orientation.z, _x.orientation.w,) = _get_struct_4d().unpack(str[start:end])
start = end
end += 72
self.orientation_covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
_x = self
start = end
end += 24
(_x.angular_velocity.x, _x.angular_velocity.y, _x.angular_velocity.z,) = _get_struct_3d().unpack(str[start:end])
start = end
end += 72
self.angular_velocity_covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
_x = self
start = end
end += 24
(_x.linear_acceleration.x, _x.linear_acceleration.y, _x.linear_acceleration.z,) = _get_struct_3d().unpack(str[start:end])
start = end
end += 72
self.linear_acceleration_covariance = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=9)
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_3I = None
def _get_struct_3I():
global _struct_3I
if _struct_3I is None:
_struct_3I = struct.Struct("<3I")
return _struct_3I
_struct_3d = None
def _get_struct_3d():
global _struct_3d
if _struct_3d is None:
_struct_3d = struct.Struct("<3d")
return _struct_3d
_struct_4d = None
def _get_struct_4d():
global _struct_4d
if _struct_4d is None:
_struct_4d = struct.Struct("<4d")
return _struct_4d
_struct_9d = None
def _get_struct_9d():
global _struct_9d
if _struct_9d is None:
_struct_9d = struct.Struct("<9d")
return _struct_9d
