public override void deserialize(MemoryStream stream, halodi_msgs.msg.WholeBodyTrajectoryPoint data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(halodi_msgs.msg.WholeBodyTrajectoryPoint data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public static void read(halodi_msgs.msg.WholeBodyTrajectory data, Halodi.CDR.CDRDeserializer cdr)
{
data.trajectory_id = unique_identifier_msgs.msg.UUIDPubSubType.Create();
unique_identifier_msgs.msg.UUIDPubSubType.read(data.trajectory_id, cdr);
int start_time_length = cdr.read_type_2();
data.start_time = new System.Collections.Generic.List <builtin_interfaces.msg.Time>(start_time_length);
for (int i = 0; i < start_time_length; i++)
{
builtin_interfaces.msg.Time new_start_time = builtin_interfaces.msg.TimePubSubType.Create();
builtin_interfaces.msg.TimePubSubType.read(new_start_time, cdr);
data.start_time.Add(new_start_time);
}
int balance_mode_length = cdr.read_type_2();
data.balance_mode = new System.Collections.Generic.List <halodi_msgs.msg.BalanceMode>(balance_mode_length);
for (int i = 0; i < balance_mode_length; i++)
{
halodi_msgs.msg.BalanceMode new_balance_mode = halodi_msgs.msg.BalanceModePubSubType.Create();
halodi_msgs.msg.BalanceModePubSubType.read(new_balance_mode, cdr);
data.balance_mode.Add(new_balance_mode);
}
data.append_trajectory = cdr.read_type_7();
data.interpolation_mode = halodi_msgs.msg.TrajectoryInterpolationPubSubType.Create();
halodi_msgs.msg.TrajectoryInterpolationPubSubType.read(data.interpolation_mode, cdr);
data.low_pass_filter_break_frequency = cdr.read_type_6();
int trajectory_points_length = cdr.read_type_2();
data.trajectory_points = new System.Collections.Generic.List <halodi_msgs.msg.WholeBodyTrajectoryPoint>(trajectory_points_length);
for (int i = 0; i < trajectory_points_length; i++)
{
halodi_msgs.msg.WholeBodyTrajectoryPoint new_trajectory_points = halodi_msgs.msg.WholeBodyTrajectoryPointPubSubType.Create();
halodi_msgs.msg.WholeBodyTrajectoryPointPubSubType.read(new_trajectory_points, cdr);
data.trajectory_points.Add(new_trajectory_points);
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.WholeBodyTrajectoryPoint data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += builtin_interfaces.msg.DurationPubSubType.getCdrSerializedSize(data.time_from_start, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.task_space_commands.Count; ++i0)
{
current_alignment += halodi_msgs.msg.TaskSpaceCommandPubSubType.getCdrSerializedSize(data.task_space_commands[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.joint_space_commands.Count; ++i0)
{
current_alignment += halodi_msgs.msg.JointSpaceCommandPubSubType.getCdrSerializedSize(data.joint_space_commands[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.contact_point_commands.Count; ++i0)
{
current_alignment += halodi_msgs.msg.ContactPointCommandPubSubType.getCdrSerializedSize(data.contact_point_commands[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.icp_offset_command.Count; ++i0)
{
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.icp_offset_command[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.left_hand_command.Count; ++i0)
{
current_alignment += halodi_msgs.msg.HandCommandPubSubType.getCdrSerializedSize(data.left_hand_command[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.right_hand_command.Count; ++i0)
{
current_alignment += halodi_msgs.msg.HandCommandPubSubType.getCdrSerializedSize(data.right_hand_command[i0], current_alignment);
}
return(current_alignment - initial_alignment);
}
public void Set(WholeBodyTrajectory other)
{
unique_identifier_msgs.msg.UUIDPubSubType.Copy(other.trajectory_id, trajectory_id);
if (other.start_time == null)
{
start_time = null;
}
else
{
start_time = new System.Collections.Generic.List <builtin_interfaces.msg.Time>(other.start_time.Count);
for (int i1 = 0; i1 < other.start_time.Count; i1++)
{
if (other.start_time[i1] == null)
{
start_time.Add(null);
}
else
{
builtin_interfaces.msg.Time newElement = builtin_interfaces.msg.TimePubSubType.Create();
builtin_interfaces.msg.TimePubSubType.Copy(other.start_time[i1], newElement);
start_time.Add(newElement);
}
}
}
if (other.balance_mode == null)
{
balance_mode = null;
}
else
{
balance_mode = new System.Collections.Generic.List <halodi_msgs.msg.BalanceMode>(other.balance_mode.Count);
for (int i2 = 0; i2 < other.balance_mode.Count; i2++)
{
if (other.balance_mode[i2] == null)
{
balance_mode.Add(null);
}
else
{
halodi_msgs.msg.BalanceMode newElement = halodi_msgs.msg.BalanceModePubSubType.Create();
halodi_msgs.msg.BalanceModePubSubType.Copy(other.balance_mode[i2], newElement);
balance_mode.Add(newElement);
}
}
}
append_trajectory = other.append_trajectory;
halodi_msgs.msg.TrajectoryInterpolationPubSubType.Copy(other.interpolation_mode, interpolation_mode);
low_pass_filter_break_frequency = other.low_pass_filter_break_frequency;
if (other.trajectory_points == null)
{
trajectory_points = null;
}
else
{
trajectory_points = new System.Collections.Generic.List <halodi_msgs.msg.WholeBodyTrajectoryPoint>(other.trajectory_points.Count);
for (int i3 = 0; i3 < other.trajectory_points.Count; i3++)
{
if (other.trajectory_points[i3] == null)
{
trajectory_points.Add(null);
}
else
{
halodi_msgs.msg.WholeBodyTrajectoryPoint newElement = halodi_msgs.msg.WholeBodyTrajectoryPointPubSubType.Create();
halodi_msgs.msg.WholeBodyTrajectoryPointPubSubType.Copy(other.trajectory_points[i3], newElement);
trajectory_points.Add(newElement);
}
}
}
}
public static void write(halodi_msgs.msg.WholeBodyTrajectoryPoint data, Halodi.CDR.CDRSerializer cdr)
{
builtin_interfaces.msg.DurationPubSubType.write(data.time_from_start, cdr);
if (data.task_space_commands == null)
{
cdr.write_type_2(0);
}
else
{
int task_space_commands_length = data.task_space_commands.Count;
cdr.write_type_2(task_space_commands_length);
for (int i0 = 0; i0 < task_space_commands_length; i0++)
{
halodi_msgs.msg.TaskSpaceCommandPubSubType.write(data.task_space_commands[i0], cdr);
}
}
if (data.joint_space_commands == null)
{
cdr.write_type_2(0);
}
else
{
int joint_space_commands_length = data.joint_space_commands.Count;
cdr.write_type_2(joint_space_commands_length);
for (int i0 = 0; i0 < joint_space_commands_length; i0++)
{
halodi_msgs.msg.JointSpaceCommandPubSubType.write(data.joint_space_commands[i0], cdr);
}
}
if (data.contact_point_commands == null)
{
cdr.write_type_2(0);
}
else
{
int contact_point_commands_length = data.contact_point_commands.Count;
cdr.write_type_2(contact_point_commands_length);
for (int i0 = 0; i0 < contact_point_commands_length; i0++)
{
halodi_msgs.msg.ContactPointCommandPubSubType.write(data.contact_point_commands[i0], cdr);
}
}
if (data.icp_offset_command == null)
{
cdr.write_type_2(0);
}
else
{
int icp_offset_command_length = data.icp_offset_command.Count;
cdr.write_type_2(icp_offset_command_length);
for (int i0 = 0; i0 < icp_offset_command_length; i0++)
{
geometry_msgs.msg.Vector3PubSubType.write(data.icp_offset_command[i0], cdr);
}
}
if (data.left_hand_command == null)
{
cdr.write_type_2(0);
}
else
{
int left_hand_command_length = data.left_hand_command.Count;
cdr.write_type_2(left_hand_command_length);
for (int i0 = 0; i0 < left_hand_command_length; i0++)
{
halodi_msgs.msg.HandCommandPubSubType.write(data.left_hand_command[i0], cdr);
}
}
if (data.right_hand_command == null)
{
cdr.write_type_2(0);
}
else
{
int right_hand_command_length = data.right_hand_command.Count;
cdr.write_type_2(right_hand_command_length);
for (int i0 = 0; i0 < right_hand_command_length; i0++)
{
halodi_msgs.msg.HandCommandPubSubType.write(data.right_hand_command[i0], cdr);
}
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.WholeBodyTrajectoryPoint data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(halodi_msgs.msg.WholeBodyTrajectoryPoint src, halodi_msgs.msg.WholeBodyTrajectoryPoint target)
{
target.Set(src);
}
public static void read(halodi_msgs.msg.WholeBodyTrajectoryPoint data, Halodi.CDR.CDRDeserializer cdr)
{
data.time_from_start = builtin_interfaces.msg.DurationPubSubType.Create();
builtin_interfaces.msg.DurationPubSubType.read(data.time_from_start, cdr);
int task_space_commands_length = cdr.read_type_2();
data.task_space_commands = new System.Collections.Generic.List <halodi_msgs.msg.TaskSpaceCommand>(task_space_commands_length);
for (int i = 0; i < task_space_commands_length; i++)
{
halodi_msgs.msg.TaskSpaceCommand new_task_space_commands = halodi_msgs.msg.TaskSpaceCommandPubSubType.Create();
halodi_msgs.msg.TaskSpaceCommandPubSubType.read(new_task_space_commands, cdr);
data.task_space_commands.Add(new_task_space_commands);
}
int joint_space_commands_length = cdr.read_type_2();
data.joint_space_commands = new System.Collections.Generic.List <halodi_msgs.msg.JointSpaceCommand>(joint_space_commands_length);
for (int i = 0; i < joint_space_commands_length; i++)
{
halodi_msgs.msg.JointSpaceCommand new_joint_space_commands = halodi_msgs.msg.JointSpaceCommandPubSubType.Create();
halodi_msgs.msg.JointSpaceCommandPubSubType.read(new_joint_space_commands, cdr);
data.joint_space_commands.Add(new_joint_space_commands);
}
int contact_point_commands_length = cdr.read_type_2();
data.contact_point_commands = new System.Collections.Generic.List <halodi_msgs.msg.ContactPointCommand>(contact_point_commands_length);
for (int i = 0; i < contact_point_commands_length; i++)
{
halodi_msgs.msg.ContactPointCommand new_contact_point_commands = halodi_msgs.msg.ContactPointCommandPubSubType.Create();
halodi_msgs.msg.ContactPointCommandPubSubType.read(new_contact_point_commands, cdr);
data.contact_point_commands.Add(new_contact_point_commands);
}
int icp_offset_command_length = cdr.read_type_2();
data.icp_offset_command = new System.Collections.Generic.List <geometry_msgs.msg.Vector3>(icp_offset_command_length);
for (int i = 0; i < icp_offset_command_length; i++)
{
geometry_msgs.msg.Vector3 new_icp_offset_command = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(new_icp_offset_command, cdr);
data.icp_offset_command.Add(new_icp_offset_command);
}
int left_hand_command_length = cdr.read_type_2();
data.left_hand_command = new System.Collections.Generic.List <halodi_msgs.msg.HandCommand>(left_hand_command_length);
for (int i = 0; i < left_hand_command_length; i++)
{
halodi_msgs.msg.HandCommand new_left_hand_command = halodi_msgs.msg.HandCommandPubSubType.Create();
halodi_msgs.msg.HandCommandPubSubType.read(new_left_hand_command, cdr);
data.left_hand_command.Add(new_left_hand_command);
}
int right_hand_command_length = cdr.read_type_2();
data.right_hand_command = new System.Collections.Generic.List <halodi_msgs.msg.HandCommand>(right_hand_command_length);
for (int i = 0; i < right_hand_command_length; i++)
{
halodi_msgs.msg.HandCommand new_right_hand_command = halodi_msgs.msg.HandCommandPubSubType.Create();
halodi_msgs.msg.HandCommandPubSubType.read(new_right_hand_command, cdr);
data.right_hand_command.Add(new_right_hand_command);
}
}
