/usr/share/common-lisp/ros/sensor_msgs/msg/NavSatFix.lisp is in cl-sensor-msgs 1.12.5-3.
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 NavSatFix.msg.html
(cl:defclass <NavSatFix> (roslisp-msg-protocol:ros-message)
((header
:reader header
:initarg :header
:type std_msgs-msg:Header
:initform (cl:make-instance 'std_msgs-msg:Header))
(status
:reader status
:initarg :status
:type sensor_msgs-msg:NavSatStatus
:initform (cl:make-instance 'sensor_msgs-msg:NavSatStatus))
(latitude
:reader latitude
:initarg :latitude
:type cl:float
:initform 0.0)
(longitude
:reader longitude
:initarg :longitude
:type cl:float
:initform 0.0)
(altitude
:reader altitude
:initarg :altitude
:type cl:float
:initform 0.0)
(position_covariance
:reader position_covariance
:initarg :position_covariance
:type (cl:vector cl:float)
:initform (cl:make-array 9 :element-type 'cl:float :initial-element 0.0))
(position_covariance_type
:reader position_covariance_type
:initarg :position_covariance_type
:type cl:fixnum
:initform 0))
)
(cl:defclass NavSatFix (<NavSatFix>)
())
(cl:defmethod cl:initialize-instance :after ((m <NavSatFix>) cl:&rest args)
(cl:declare (cl:ignorable args))
(cl:unless (cl:typep m 'NavSatFix)
(roslisp-msg-protocol:msg-deprecation-warning "using old message class name sensor_msgs-msg:<NavSatFix> is deprecated: use sensor_msgs-msg:NavSatFix instead.")))
(cl:ensure-generic-function 'header-val :lambda-list '(m))
(cl:defmethod header-val ((m <NavSatFix>))
(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 'status-val :lambda-list '(m))
(cl:defmethod status-val ((m <NavSatFix>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:status-val is deprecated. Use sensor_msgs-msg:status instead.")
(status m))
(cl:ensure-generic-function 'latitude-val :lambda-list '(m))
(cl:defmethod latitude-val ((m <NavSatFix>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:latitude-val is deprecated. Use sensor_msgs-msg:latitude instead.")
(latitude m))
(cl:ensure-generic-function 'longitude-val :lambda-list '(m))
(cl:defmethod longitude-val ((m <NavSatFix>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:longitude-val is deprecated. Use sensor_msgs-msg:longitude instead.")
(longitude m))
(cl:ensure-generic-function 'altitude-val :lambda-list '(m))
(cl:defmethod altitude-val ((m <NavSatFix>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:altitude-val is deprecated. Use sensor_msgs-msg:altitude instead.")
(altitude m))
(cl:ensure-generic-function 'position_covariance-val :lambda-list '(m))
(cl:defmethod position_covariance-val ((m <NavSatFix>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:position_covariance-val is deprecated. Use sensor_msgs-msg:position_covariance instead.")
(position_covariance m))
(cl:ensure-generic-function 'position_covariance_type-val :lambda-list '(m))
(cl:defmethod position_covariance_type-val ((m <NavSatFix>))
(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:position_covariance_type-val is deprecated. Use sensor_msgs-msg:position_covariance_type instead.")
(position_covariance_type m))
(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '<NavSatFix>)))
"Constants for message type '<NavSatFix>"
'((:COVARIANCE_TYPE_UNKNOWN . 0)
(:COVARIANCE_TYPE_APPROXIMATED . 1)
(:COVARIANCE_TYPE_DIAGONAL_KNOWN . 2)
(:COVARIANCE_TYPE_KNOWN . 3))
)
(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'NavSatFix)))
"Constants for message type 'NavSatFix"
'((:COVARIANCE_TYPE_UNKNOWN . 0)
(:COVARIANCE_TYPE_APPROXIMATED . 1)
(:COVARIANCE_TYPE_DIAGONAL_KNOWN . 2)
(:COVARIANCE_TYPE_KNOWN . 3))
)
(cl:defmethod roslisp-msg-protocol:serialize ((msg <NavSatFix>) ostream)
"Serializes a message object of type '<NavSatFix>"
(roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
(roslisp-msg-protocol:serialize (cl:slot-value msg 'status) ostream)
(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'latitude))))
(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:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'longitude))))
(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:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'altitude))))
(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: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 'position_covariance))
(cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'position_covariance_type)) ostream)
)
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <NavSatFix>) istream)
"Deserializes a message object of type '<NavSatFix>"
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
(roslisp-msg-protocol:deserialize (cl:slot-value msg 'status) istream)
(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:slot-value msg 'latitude) (roslisp-utils:decode-double-float-bits bits)))
(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:slot-value msg 'longitude) (roslisp-utils:decode-double-float-bits bits)))
(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:slot-value msg 'altitude) (roslisp-utils:decode-double-float-bits bits)))
(cl:setf (cl:slot-value msg 'position_covariance) (cl:make-array 9))
(cl:let ((vals (cl:slot-value msg 'position_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)))))
(cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'position_covariance_type)) (cl:read-byte istream))
msg
)
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<NavSatFix>)))
"Returns string type for a message object of type '<NavSatFix>"
"sensor_msgs/NavSatFix")
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'NavSatFix)))
"Returns string type for a message object of type 'NavSatFix"
"sensor_msgs/NavSatFix")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<NavSatFix>)))
"Returns md5sum for a message object of type '<NavSatFix>"
"2d3a8cd499b9b4a0249fb98fd05cfa48")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'NavSatFix)))
"Returns md5sum for a message object of type 'NavSatFix"
"2d3a8cd499b9b4a0249fb98fd05cfa48")
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<NavSatFix>)))
"Returns full string definition for message of type '<NavSatFix>"
(cl:format cl:nil "# Navigation Satellite fix for any Global Navigation Satellite System~%#~%# Specified using the WGS 84 reference ellipsoid~%~%# header.stamp specifies the ROS time for this measurement (the~%# corresponding satellite time may be reported using the~%# sensor_msgs/TimeReference message).~%#~%# header.frame_id is the frame of reference reported by the satellite~%# receiver, usually the location of the antenna. This is a~%# Euclidean frame relative to the vehicle, not a reference~%# ellipsoid.~%Header header~%~%# satellite fix status information~%NavSatStatus status~%~%# Latitude [degrees]. Positive is north of equator; negative is south.~%float64 latitude~%~%# Longitude [degrees]. Positive is east of prime meridian; negative is west.~%float64 longitude~%~%# Altitude [m]. Positive is above the WGS 84 ellipsoid~%# (quiet NaN if no altitude is available).~%float64 altitude~%~%# Position covariance [m^2] defined relative to a tangential plane~%# through the reported position. The components are East, North, and~%# Up (ENU), in row-major order.~%#~%# Beware: this coordinate system exhibits singularities at the poles.~%~%float64[9] position_covariance~%~%# If the covariance of the fix is known, fill it in completely. If the~%# GPS receiver provides the variance of each measurement, put them~%# along the diagonal. If only Dilution of Precision is available,~%# estimate an approximate covariance from that.~%~%uint8 COVARIANCE_TYPE_UNKNOWN = 0~%uint8 COVARIANCE_TYPE_APPROXIMATED = 1~%uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2~%uint8 COVARIANCE_TYPE_KNOWN = 3~%~%uint8 position_covariance_type~%~%================================================================================~%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: sensor_msgs/NavSatStatus~%# Navigation Satellite fix status for any Global Navigation Satellite System~%~%# Whether to output an augmented fix is determined by both the fix~%# type and the last time differential corrections were received. A~%# fix is valid when status >= STATUS_FIX.~%~%int8 STATUS_NO_FIX = -1 # unable to fix position~%int8 STATUS_FIX = 0 # unaugmented fix~%int8 STATUS_SBAS_FIX = 1 # with satellite-based augmentation~%int8 STATUS_GBAS_FIX = 2 # with ground-based augmentation~%~%int8 status~%~%# Bits defining which Global Navigation Satellite System signals were~%# used by the receiver.~%~%uint16 SERVICE_GPS = 1~%uint16 SERVICE_GLONASS = 2~%uint16 SERVICE_COMPASS = 4 # includes BeiDou.~%uint16 SERVICE_GALILEO = 8~%~%uint16 service~%~%~%"))
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'NavSatFix)))
"Returns full string definition for message of type 'NavSatFix"
(cl:format cl:nil "# Navigation Satellite fix for any Global Navigation Satellite System~%#~%# Specified using the WGS 84 reference ellipsoid~%~%# header.stamp specifies the ROS time for this measurement (the~%# corresponding satellite time may be reported using the~%# sensor_msgs/TimeReference message).~%#~%# header.frame_id is the frame of reference reported by the satellite~%# receiver, usually the location of the antenna. This is a~%# Euclidean frame relative to the vehicle, not a reference~%# ellipsoid.~%Header header~%~%# satellite fix status information~%NavSatStatus status~%~%# Latitude [degrees]. Positive is north of equator; negative is south.~%float64 latitude~%~%# Longitude [degrees]. Positive is east of prime meridian; negative is west.~%float64 longitude~%~%# Altitude [m]. Positive is above the WGS 84 ellipsoid~%# (quiet NaN if no altitude is available).~%float64 altitude~%~%# Position covariance [m^2] defined relative to a tangential plane~%# through the reported position. The components are East, North, and~%# Up (ENU), in row-major order.~%#~%# Beware: this coordinate system exhibits singularities at the poles.~%~%float64[9] position_covariance~%~%# If the covariance of the fix is known, fill it in completely. If the~%# GPS receiver provides the variance of each measurement, put them~%# along the diagonal. If only Dilution of Precision is available,~%# estimate an approximate covariance from that.~%~%uint8 COVARIANCE_TYPE_UNKNOWN = 0~%uint8 COVARIANCE_TYPE_APPROXIMATED = 1~%uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2~%uint8 COVARIANCE_TYPE_KNOWN = 3~%~%uint8 position_covariance_type~%~%================================================================================~%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: sensor_msgs/NavSatStatus~%# Navigation Satellite fix status for any Global Navigation Satellite System~%~%# Whether to output an augmented fix is determined by both the fix~%# type and the last time differential corrections were received. A~%# fix is valid when status >= STATUS_FIX.~%~%int8 STATUS_NO_FIX = -1 # unable to fix position~%int8 STATUS_FIX = 0 # unaugmented fix~%int8 STATUS_SBAS_FIX = 1 # with satellite-based augmentation~%int8 STATUS_GBAS_FIX = 2 # with ground-based augmentation~%~%int8 status~%~%# Bits defining which Global Navigation Satellite System signals were~%# used by the receiver.~%~%uint16 SERVICE_GPS = 1~%uint16 SERVICE_GLONASS = 2~%uint16 SERVICE_COMPASS = 4 # includes BeiDou.~%uint16 SERVICE_GALILEO = 8~%~%uint16 service~%~%~%"))
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <NavSatFix>))
(cl:+ 0
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
(roslisp-msg-protocol:serialization-length (cl:slot-value msg 'status))
8
8
8
0 (cl:reduce #'cl:+ (cl:slot-value msg 'position_covariance) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
1
))
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <NavSatFix>))
"Converts a ROS message object to a list"
(cl:list 'NavSatFix
(cl:cons ':header (header msg))
(cl:cons ':status (status msg))
(cl:cons ':latitude (latitude msg))
(cl:cons ':longitude (longitude msg))
(cl:cons ':altitude (altitude msg))
(cl:cons ':position_covariance (position_covariance msg))
(cl:cons ':position_covariance_type (position_covariance_type msg))
))
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