public override void deserialize(MemoryStream stream, ocs2_ros2_msgs.msg.ControllerData data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(ocs2_ros2_msgs.msg.ControllerData 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(ocs2_ros2_msgs.msg.ControllerData data, Halodi.CDR.CDRDeserializer cdr)
{
int data_length = cdr.read_type_2();
data.data = new System.Collections.Generic.List <float>(data_length);
for (int i = 0; i < data_length; i++)
{
data.data.Add(cdr.read_type_5());
}
}
public static int getCdrSerializedSize(ocs2_ros2_msgs.msg.ControllerData data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.data.Count * 4) + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
return(current_alignment - initial_alignment);
}
public static void write(ocs2_ros2_msgs.msg.ControllerData data, Halodi.CDR.CDRSerializer cdr)
{
if (data.data == null)
{
cdr.write_type_2(0);
}
else
{
int data_length = data.data.Count;
cdr.write_type_2(data_length);
for (int i0 = 0; i0 < data_length; i0++)
{
cdr.write_type_5(data.data[i0]);
}
}
}
public void Set(MpcFlattenedController other)
{
controller_type = other.controller_type;
ocs2_ros2_msgs.msg.MpcObservationPubSubType.Copy(other.init_observation, init_observation);
ocs2_ros2_msgs.msg.MpcTargetTrajectoriesPubSubType.Copy(other.plan_target_trajectories, plan_target_trajectories);
if (other.state_trajectory == null)
{
state_trajectory = null;
}
else
{
state_trajectory = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.MpcState>(other.state_trajectory.Count);
for (int i1 = 0; i1 < other.state_trajectory.Count; i1++)
{
if (other.state_trajectory[i1] == null)
{
state_trajectory.Add(null);
}
else
{
ocs2_ros2_msgs.msg.MpcState newElement = ocs2_ros2_msgs.msg.MpcStatePubSubType.Create();
ocs2_ros2_msgs.msg.MpcStatePubSubType.Copy(other.state_trajectory[i1], newElement);
state_trajectory.Add(newElement);
}
}
}
if (other.input_trajectory == null)
{
input_trajectory = null;
}
else
{
input_trajectory = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.MpcInput>(other.input_trajectory.Count);
for (int i2 = 0; i2 < other.input_trajectory.Count; i2++)
{
if (other.input_trajectory[i2] == null)
{
input_trajectory.Add(null);
}
else
{
ocs2_ros2_msgs.msg.MpcInput newElement = ocs2_ros2_msgs.msg.MpcInputPubSubType.Create();
ocs2_ros2_msgs.msg.MpcInputPubSubType.Copy(other.input_trajectory[i2], newElement);
input_trajectory.Add(newElement);
}
}
}
if (other.time_trajectory == null)
{
time_trajectory = null;
}
else
{
time_trajectory = new System.Collections.Generic.List <float>(other.time_trajectory.Count);
for (int i3 = 0; i3 < other.time_trajectory.Count; i3++)
{
time_trajectory.Add(other.time_trajectory[i3]);
}
}
ocs2_ros2_msgs.msg.ModeSchedulePubSubType.Copy(other.mode_schedule, mode_schedule);
if (other.data == null)
{
data = null;
}
else
{
data = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.ControllerData>(other.data.Count);
for (int i4 = 0; i4 < other.data.Count; i4++)
{
if (other.data[i4] == null)
{
data.Add(null);
}
else
{
ocs2_ros2_msgs.msg.ControllerData newElement = ocs2_ros2_msgs.msg.ControllerDataPubSubType.Create();
ocs2_ros2_msgs.msg.ControllerDataPubSubType.Copy(other.data[i4], newElement);
data.Add(newElement);
}
}
}
ocs2_ros2_msgs.msg.MpcPerformanceIndicesPubSubType.Copy(other.performance_indices, performance_indices);
}
public static void Copy(ocs2_ros2_msgs.msg.ControllerData src, ocs2_ros2_msgs.msg.ControllerData target)
{
target.Set(src);
}
public static int getCdrSerializedSize(ocs2_ros2_msgs.msg.ControllerData data)
{
return(getCdrSerializedSize(data, 0));
}
public static void read(ocs2_ros2_msgs.msg.MpcFlattenedController data, Halodi.CDR.CDRDeserializer cdr)
{
data.controller_type = cdr.read_type_9();
data.init_observation = ocs2_ros2_msgs.msg.MpcObservationPubSubType.Create();
ocs2_ros2_msgs.msg.MpcObservationPubSubType.read(data.init_observation, cdr);
data.plan_target_trajectories = ocs2_ros2_msgs.msg.MpcTargetTrajectoriesPubSubType.Create();
ocs2_ros2_msgs.msg.MpcTargetTrajectoriesPubSubType.read(data.plan_target_trajectories, cdr);
int state_trajectory_length = cdr.read_type_2();
data.state_trajectory = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.MpcState>(state_trajectory_length);
for (int i = 0; i < state_trajectory_length; i++)
{
ocs2_ros2_msgs.msg.MpcState new_state_trajectory = ocs2_ros2_msgs.msg.MpcStatePubSubType.Create();
ocs2_ros2_msgs.msg.MpcStatePubSubType.read(new_state_trajectory, cdr);
data.state_trajectory.Add(new_state_trajectory);
}
int input_trajectory_length = cdr.read_type_2();
data.input_trajectory = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.MpcInput>(input_trajectory_length);
for (int i = 0; i < input_trajectory_length; i++)
{
ocs2_ros2_msgs.msg.MpcInput new_input_trajectory = ocs2_ros2_msgs.msg.MpcInputPubSubType.Create();
ocs2_ros2_msgs.msg.MpcInputPubSubType.read(new_input_trajectory, cdr);
data.input_trajectory.Add(new_input_trajectory);
}
int time_trajectory_length = cdr.read_type_2();
data.time_trajectory = new System.Collections.Generic.List <float>(time_trajectory_length);
for (int i = 0; i < time_trajectory_length; i++)
{
data.time_trajectory.Add(cdr.read_type_5());
}
data.mode_schedule = ocs2_ros2_msgs.msg.ModeSchedulePubSubType.Create();
ocs2_ros2_msgs.msg.ModeSchedulePubSubType.read(data.mode_schedule, cdr);
int data_length = cdr.read_type_2();
data.data = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.ControllerData>(data_length);
for (int i = 0; i < data_length; i++)
{
ocs2_ros2_msgs.msg.ControllerData new_data = ocs2_ros2_msgs.msg.ControllerDataPubSubType.Create();
ocs2_ros2_msgs.msg.ControllerDataPubSubType.read(new_data, cdr);
data.data.Add(new_data);
}
data.performance_indices = ocs2_ros2_msgs.msg.MpcPerformanceIndicesPubSubType.Create();
ocs2_ros2_msgs.msg.MpcPerformanceIndicesPubSubType.read(data.performance_indices, cdr);
}
