Many resources are needed to download a project. Please understand that we have to compensate our server costs. Thank you in advance. Project price only 1 $
You can buy this project and download/modify it how often you want.
package sensor_msgs.msg.dds;
import us.ihmc.communication.packets.Packet;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.interfaces.EpsilonComparable;
import java.util.function.Supplier;
import us.ihmc.pubsub.TopicDataType;
/**
* 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.
*/
public class Imu extends Packet implements Settable, EpsilonComparable
{
public std_msgs.msg.dds.Header header_;
public us.ihmc.euclid.tuple4D.Quaternion orientation_;
/**
* Row major about x, y, z axes
*/
public double[] orientation_covariance_;
public us.ihmc.euclid.tuple3D.Vector3D angular_velocity_;
/**
* Row major about x, y, z axes
*/
public double[] angular_velocity_covariance_;
public us.ihmc.euclid.tuple3D.Vector3D linear_acceleration_;
/**
* Row major x, y z
*/
public double[] linear_acceleration_covariance_;
public Imu()
{
header_ = new std_msgs.msg.dds.Header();
orientation_ = new us.ihmc.euclid.tuple4D.Quaternion();
orientation_covariance_ = new double[9];
angular_velocity_ = new us.ihmc.euclid.tuple3D.Vector3D();
angular_velocity_covariance_ = new double[9];
linear_acceleration_ = new us.ihmc.euclid.tuple3D.Vector3D();
linear_acceleration_covariance_ = new double[9];
}
public Imu(Imu other)
{
this();
set(other);
}
public void set(Imu other)
{
std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
geometry_msgs.msg.dds.QuaternionPubSubType.staticCopy(other.orientation_, orientation_);
for(int i1 = 0; i1 < orientation_covariance_.length; ++i1)
{
orientation_covariance_[i1] = other.orientation_covariance_[i1];
}
geometry_msgs.msg.dds.Vector3PubSubType.staticCopy(other.angular_velocity_, angular_velocity_);
for(int i3 = 0; i3 < angular_velocity_covariance_.length; ++i3)
{
angular_velocity_covariance_[i3] = other.angular_velocity_covariance_[i3];
}
geometry_msgs.msg.dds.Vector3PubSubType.staticCopy(other.linear_acceleration_, linear_acceleration_);
for(int i5 = 0; i5 < linear_acceleration_covariance_.length; ++i5)
{
linear_acceleration_covariance_[i5] = other.linear_acceleration_covariance_[i5];
}
}
public std_msgs.msg.dds.Header getHeader()
{
return header_;
}
public us.ihmc.euclid.tuple4D.Quaternion getOrientation()
{
return orientation_;
}
/**
* Row major about x, y, z axes
*/
public double[] getOrientationCovariance()
{
return orientation_covariance_;
}
public us.ihmc.euclid.tuple3D.Vector3D getAngularVelocity()
{
return angular_velocity_;
}
/**
* Row major about x, y, z axes
*/
public double[] getAngularVelocityCovariance()
{
return angular_velocity_covariance_;
}
public us.ihmc.euclid.tuple3D.Vector3D getLinearAcceleration()
{
return linear_acceleration_;
}
/**
* Row major x, y z
*/
public double[] getLinearAccelerationCovariance()
{
return linear_acceleration_covariance_;
}
public static Supplier getPubSubType()
{
return ImuPubSubType::new;
}
@Override
public Supplier getPubSubTypePacket()
{
return ImuPubSubType::new;
}
@Override
public boolean epsilonEquals(Imu other, double epsilon)
{
if(other == null) return false;
if(other == this) return true;
if (!this.header_.epsilonEquals(other.header_, epsilon)) return false;
if (!this.orientation_.epsilonEquals(other.orientation_, epsilon)) return false;
for(int i7 = 0; i7 < orientation_covariance_.length; ++i7)
{
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.orientation_covariance_[i7], other.orientation_covariance_[i7], epsilon)) return false;
}
if (!this.angular_velocity_.epsilonEquals(other.angular_velocity_, epsilon)) return false;
for(int i9 = 0; i9 < angular_velocity_covariance_.length; ++i9)
{
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.angular_velocity_covariance_[i9], other.angular_velocity_covariance_[i9], epsilon)) return false;
}
if (!this.linear_acceleration_.epsilonEquals(other.linear_acceleration_, epsilon)) return false;
for(int i11 = 0; i11 < linear_acceleration_covariance_.length; ++i11)
{
if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.linear_acceleration_covariance_[i11], other.linear_acceleration_covariance_[i11], epsilon)) return false;
}
return true;
}
@Override
public boolean equals(Object other)
{
if(other == null) return false;
if(other == this) return true;
if(!(other instanceof Imu)) return false;
Imu otherMyClass = (Imu) other;
if (!this.header_.equals(otherMyClass.header_)) return false;
if (!this.orientation_.equals(otherMyClass.orientation_)) return false;
for(int i13 = 0; i13 < orientation_covariance_.length; ++i13)
{
if(this.orientation_covariance_[i13] != otherMyClass.orientation_covariance_[i13]) return false;
}
if (!this.angular_velocity_.equals(otherMyClass.angular_velocity_)) return false;
for(int i15 = 0; i15 < angular_velocity_covariance_.length; ++i15)
{
if(this.angular_velocity_covariance_[i15] != otherMyClass.angular_velocity_covariance_[i15]) return false;
}
if (!this.linear_acceleration_.equals(otherMyClass.linear_acceleration_)) return false;
for(int i17 = 0; i17 < linear_acceleration_covariance_.length; ++i17)
{
if(this.linear_acceleration_covariance_[i17] != otherMyClass.linear_acceleration_covariance_[i17]) return false;
}
return true;
}
@Override
public java.lang.String toString()
{
StringBuilder builder = new StringBuilder();
builder.append("Imu {");
builder.append("header=");
builder.append(this.header_); builder.append(", ");
builder.append("orientation=");
builder.append(this.orientation_); builder.append(", ");
builder.append("orientation_covariance=");
builder.append(java.util.Arrays.toString(this.orientation_covariance_)); builder.append(", ");
builder.append("angular_velocity=");
builder.append(this.angular_velocity_); builder.append(", ");
builder.append("angular_velocity_covariance=");
builder.append(java.util.Arrays.toString(this.angular_velocity_covariance_)); builder.append(", ");
builder.append("linear_acceleration=");
builder.append(this.linear_acceleration_); builder.append(", ");
builder.append("linear_acceleration_covariance=");
builder.append(java.util.Arrays.toString(this.linear_acceleration_covariance_));
builder.append("}");
return builder.toString();
}
}
