/usr/share/common-lisp/ros/sensor_msgs/msg/Imu.lisp is in cl-sensor-msgs 1.12.5-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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(cl:in-package sensor_msgs-msg)
;//! \htmlinclude Imu.msg.html
(cl:defclass <Imu> (roslisp-msg-protocol:ros-message)
((header
:reader header
:initarg :header
:type std_msgs-msg:Header
:initform (cl:make-instance 'std_msgs-msg:Header))
(orientation
:reader orientation
:initarg :orientation
:type geometry_msgs-msg:Quaternion
:initform (cl:make-instance 'geometry_msgs-msg:Quaternion))
(orientation_covariance
:reader orientation_covariance
:initarg :orientation_covariance
:type (cl:vector cl:float)
:initform (cl:make-array 9 :element-type 'cl:float :initial-element 0.0))
(angular_velocity
:reader angular_velocity
:initarg :angular_velocity
:type geometry_msgs-msg:Vector3
:initform (cl:make-instance 'geometry_msgs-msg:Vector3))
(angular_velocity_covariance
:reader angular_velocity_covariance
:initarg :angular_velocity_covariance
:type (cl:vector cl:float)
:initform (cl:make-array 9 :element-type 'cl:float :initial-element 0.0))
(linear_acceleration
:reader linear_acceleration
:initarg :linear_acceleration
:type geometry_msgs-msg:Vector3
:initform (cl:make-instance 'geometry_msgs-msg:Vector3))
(linear_acceleration_covariance
:reader linear_acceleration_covariance
:initarg :linear_acceleration_covariance
:type (cl:vector cl:float)
:initform (cl:make-array 9 :element-type 'cl:float :initial-element 0.0)))
)
(cl:defclass Imu (<Imu>)
())
(cl:defmethod cl:initialize-instance :after ((m <Imu>) cl:&rest args)
(cl:declare (cl:ignorable args))
(cl:unless (cl:typep m 'Imu)
(roslisp-msg-protocol:msg-deprecation-warning "using old message class name sensor_msgs-msg:<Imu> is deprecated: use sensor_msgs-msg:Imu instead.")))
(cl:ensure-generic-function 'header-val :lambda-list '(m))
(cl:defmethod header-val ((m <Imu>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:header-val is deprecated. Use sensor_msgs-msg:header instead.")
(header m))
(cl:ensure-generic-function 'orientation-val :lambda-list '(m))
(cl:defmethod orientation-val ((m <Imu>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:orientation-val is deprecated. Use sensor_msgs-msg:orientation instead.")
(orientation m))
(cl:ensure-generic-function 'orientation_covariance-val :lambda-list '(m))
(cl:defmethod orientation_covariance-val ((m <Imu>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:orientation_covariance-val is deprecated. Use sensor_msgs-msg:orientation_covariance instead.")
(orientation_covariance m))
(cl:ensure-generic-function 'angular_velocity-val :lambda-list '(m))
(cl:defmethod angular_velocity-val ((m <Imu>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:angular_velocity-val is deprecated. Use sensor_msgs-msg:angular_velocity instead.")
(angular_velocity m))
(cl:ensure-generic-function 'angular_velocity_covariance-val :lambda-list '(m))
(cl:defmethod angular_velocity_covariance-val ((m <Imu>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:angular_velocity_covariance-val is deprecated. Use sensor_msgs-msg:angular_velocity_covariance instead.")
(angular_velocity_covariance m))
(cl:ensure-generic-function 'linear_acceleration-val :lambda-list '(m))
(cl:defmethod linear_acceleration-val ((m <Imu>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:linear_acceleration-val is deprecated. Use sensor_msgs-msg:linear_acceleration instead.")
(linear_acceleration m))
(cl:ensure-generic-function 'linear_acceleration_covariance-val :lambda-list '(m))
(cl:defmethod linear_acceleration_covariance-val ((m <Imu>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:linear_acceleration_covariance-val is deprecated. Use sensor_msgs-msg:linear_acceleration_covariance instead.")
(linear_acceleration_covariance m))
(cl:defmethod roslisp-msg-protocol:serialize ((msg <Imu>) ostream)
"Serializes a message object of type '<Imu>"
(roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
(roslisp-msg-protocol:serialize (cl:slot-value msg 'orientation) ostream)
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
(cl:slot-value msg 'orientation_covariance))
(roslisp-msg-protocol:serialize (cl:slot-value msg 'angular_velocity) ostream)
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
(cl:slot-value msg 'angular_velocity_covariance))
(roslisp-msg-protocol:serialize (cl:slot-value msg 'linear_acceleration) ostream)
(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
(cl:slot-value msg 'linear_acceleration_covariance))
)
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <Imu>) istream)
"Deserializes a message object of type '<Imu>"
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'orientation) istream)
(cl:setf (cl:slot-value msg 'orientation_covariance) (cl:make-array 9))
(cl:let ((vals (cl:slot-value msg 'orientation_covariance)))
(cl:dotimes (i 9)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'angular_velocity) istream)
(cl:setf (cl:slot-value msg 'angular_velocity_covariance) (cl:make-array 9))
(cl:let ((vals (cl:slot-value msg 'angular_velocity_covariance)))
(cl:dotimes (i 9)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'linear_acceleration) istream)
(cl:setf (cl:slot-value msg 'linear_acceleration_covariance) (cl:make-array 9))
(cl:let ((vals (cl:slot-value msg 'linear_acceleration_covariance)))
(cl:dotimes (i 9)
(cl:let ((bits 0))
(cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
(cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
(cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))
msg
)
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<Imu>)))
"Returns string type for a message object of type '<Imu>"
"sensor_msgs/Imu")
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Imu)))
"Returns string type for a message object of type 'Imu"
"sensor_msgs/Imu")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<Imu>)))
"Returns md5sum for a message object of type '<Imu>"
"6a62c6daae103f4ff57a132d6f95cec2")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Imu)))
"Returns md5sum for a message object of type 'Imu"
"6a62c6daae103f4ff57a132d6f95cec2")
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<Imu>)))
"Returns full string definition for message of type '<Imu>"
(cl:format cl:nil "# 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~%# 0: no frame~%# 1: global frame~%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~%~%"))
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Imu)))
"Returns full string definition for message of type 'Imu"
(cl:format cl:nil "# 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~%# 0: no frame~%# 1: global frame~%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~%~%"))
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <Imu>))
(cl:+ 0
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'orientation))
0 (cl:reduce #'cl:+ (cl:slot-value msg 'orientation_covariance) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'angular_velocity))
0 (cl:reduce #'cl:+ (cl:slot-value msg 'angular_velocity_covariance) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'linear_acceleration))
0 (cl:reduce #'cl:+ (cl:slot-value msg 'linear_acceleration_covariance) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
))
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <Imu>))
"Converts a ROS message object to a list"
(cl:list 'Imu
(cl:cons ':header (header msg))
(cl:cons ':orientation (orientation msg))
(cl:cons ':orientation_covariance (orientation_covariance msg))
(cl:cons ':angular_velocity (angular_velocity msg))
(cl:cons ':angular_velocity_covariance (angular_velocity_covariance msg))
(cl:cons ':linear_acceleration (linear_acceleration msg))
(cl:cons ':linear_acceleration_covariance (linear_acceleration_covariance msg))
))
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