; Auto-generated. Do not edit!


(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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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. ~%~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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. ~%~%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))
))
