public static void write(halodi_msgs.msg.DrivingCommand data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_7(data.filter_driving_command);
cdr.write_type_6(data.linear_velocity);
cdr.write_type_6(data.angular_velocity);
}
public static void read(halodi_msgs.msg.DrivingCommand data, Halodi.CDR.CDRDeserializer cdr)
{
data.filter_driving_command = cdr.read_type_7();
data.linear_velocity = cdr.read_type_6();
data.angular_velocity = cdr.read_type_6();
}
public override void deserialize(MemoryStream stream, halodi_msgs.msg.DrivingCommand 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.DrivingCommand data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.DrivingCommand data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
return(current_alignment - initial_alignment);
}
public void Set(WholeBodyControllerCommand other)
{
sequence_id = other.sequence_id;
halodi_msgs.msg.BalanceModePubSubType.Copy(other.balance_mode, balance_mode);
if (other.task_space_commands == null)
{
task_space_commands = null;
}
else
{
task_space_commands = new System.Collections.Generic.List <halodi_msgs.msg.TaskSpaceCommand>(other.task_space_commands.Count);
for (int i1 = 0; i1 < other.task_space_commands.Count; i1++)
{
if (other.task_space_commands[i1] == null)
{
task_space_commands.Add(null);
}
else
{
halodi_msgs.msg.TaskSpaceCommand newElement = halodi_msgs.msg.TaskSpaceCommandPubSubType.Create();
halodi_msgs.msg.TaskSpaceCommandPubSubType.Copy(other.task_space_commands[i1], newElement);
task_space_commands.Add(newElement);
}
}
}
if (other.joint_space_commands == null)
{
joint_space_commands = null;
}
else
{
joint_space_commands = new System.Collections.Generic.List <halodi_msgs.msg.JointSpaceCommand>(other.joint_space_commands.Count);
for (int i2 = 0; i2 < other.joint_space_commands.Count; i2++)
{
if (other.joint_space_commands[i2] == null)
{
joint_space_commands.Add(null);
}
else
{
halodi_msgs.msg.JointSpaceCommand newElement = halodi_msgs.msg.JointSpaceCommandPubSubType.Create();
halodi_msgs.msg.JointSpaceCommandPubSubType.Copy(other.joint_space_commands[i2], newElement);
joint_space_commands.Add(newElement);
}
}
}
if (other.contact_point_commands == null)
{
contact_point_commands = null;
}
else
{
contact_point_commands = new System.Collections.Generic.List <halodi_msgs.msg.ContactPointCommand>(other.contact_point_commands.Count);
for (int i3 = 0; i3 < other.contact_point_commands.Count; i3++)
{
if (other.contact_point_commands[i3] == null)
{
contact_point_commands.Add(null);
}
else
{
halodi_msgs.msg.ContactPointCommand newElement = halodi_msgs.msg.ContactPointCommandPubSubType.Create();
halodi_msgs.msg.ContactPointCommandPubSubType.Copy(other.contact_point_commands[i3], newElement);
contact_point_commands.Add(newElement);
}
}
}
if (other.driving_command == null)
{
driving_command = null;
}
else
{
driving_command = new System.Collections.Generic.List <halodi_msgs.msg.DrivingCommand>(other.driving_command.Count);
for (int i4 = 0; i4 < other.driving_command.Count; i4++)
{
if (other.driving_command[i4] == null)
{
driving_command.Add(null);
}
else
{
halodi_msgs.msg.DrivingCommand newElement = halodi_msgs.msg.DrivingCommandPubSubType.Create();
halodi_msgs.msg.DrivingCommandPubSubType.Copy(other.driving_command[i4], newElement);
driving_command.Add(newElement);
}
}
}
if (other.icp_command == null)
{
icp_command = null;
}
else
{
icp_command = new System.Collections.Generic.List <geometry_msgs.msg.Vector3>(other.icp_command.Count);
for (int i5 = 0; i5 < other.icp_command.Count; i5++)
{
if (other.icp_command[i5] == null)
{
icp_command.Add(null);
}
else
{
geometry_msgs.msg.Vector3 newElement = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.Copy(other.icp_command[i5], newElement);
icp_command.Add(newElement);
}
}
}
}
public static void Copy(halodi_msgs.msg.DrivingCommand src, halodi_msgs.msg.DrivingCommand target)
{
target.Set(src);
}
public static int getCdrSerializedSize(halodi_msgs.msg.DrivingCommand data)
{
return(getCdrSerializedSize(data, 0));
}
public static void read(halodi_msgs.msg.WholeBodyControllerCommand data, Halodi.CDR.CDRDeserializer cdr)
{
data.sequence_id = cdr.read_type_2();
data.balance_mode = halodi_msgs.msg.BalanceModePubSubType.Create();
halodi_msgs.msg.BalanceModePubSubType.read(data.balance_mode, 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 driving_command_length = cdr.read_type_2();
data.driving_command = new System.Collections.Generic.List <halodi_msgs.msg.DrivingCommand>(driving_command_length);
for (int i = 0; i < driving_command_length; i++)
{
halodi_msgs.msg.DrivingCommand new_driving_command = halodi_msgs.msg.DrivingCommandPubSubType.Create();
halodi_msgs.msg.DrivingCommandPubSubType.read(new_driving_command, cdr);
data.driving_command.Add(new_driving_command);
}
int icp_command_length = cdr.read_type_2();
data.icp_command = new System.Collections.Generic.List <geometry_msgs.msg.Vector3>(icp_command_length);
for (int i = 0; i < icp_command_length; i++)
{
geometry_msgs.msg.Vector3 new_icp_command = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(new_icp_command, cdr);
data.icp_command.Add(new_icp_command);
}
}
