public override void deserialize(MemoryStream stream, halodi_msgs.msg.WholeBodyState 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.WholeBodyState 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.WholeBodyState data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += std_msgs.msg.HeaderPubSubType.getCdrSerializedSize(data.header, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4) + data.controller_state.Length + 1;
current_alignment += halodi_msgs.msg.BalanceModePubSubType.getCdrSerializedSize(data.current_balance_mode, current_alignment);
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += geometry_msgs.msg.PosePubSubType.getCdrSerializedSize(data.pose, current_alignment);
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.angular_velocity, current_alignment);
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.linear_velocity, current_alignment);
current_alignment += geometry_msgs.msg.PosePubSubType.getCdrSerializedSize(data.map_pose, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.imu_measurements.Count; ++i0)
{
current_alignment += halodi_msgs.msg.ImuMeasurementPubSubType.getCdrSerializedSize(data.imu_measurements[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.joint_states.Count; ++i0)
{
current_alignment += halodi_msgs.msg.JointMeasurementPubSubType.getCdrSerializedSize(data.joint_states[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.taskspace_feedback.Count; ++i0)
{
current_alignment += halodi_msgs.msg.TaskSpaceFeedbackPubSubType.getCdrSerializedSize(data.taskspace_feedback[i0], current_alignment);
}
return(current_alignment - initial_alignment);
}
public static void write(halodi_msgs.msg.WholeBodyState data, Halodi.CDR.CDRSerializer cdr)
{
std_msgs.msg.HeaderPubSubType.write(data.header, cdr);
cdr.write_type_2(data.last_received_sequence_id);
cdr.write_type_7(data.accepts_commands);
cdr.write_type_d(data.controller_state);
halodi_msgs.msg.BalanceModePubSubType.write(data.current_balance_mode, cdr);
cdr.write_type_9(data.robot_status);
geometry_msgs.msg.PosePubSubType.write(data.pose, cdr);
geometry_msgs.msg.Vector3PubSubType.write(data.angular_velocity, cdr);
geometry_msgs.msg.Vector3PubSubType.write(data.linear_velocity, cdr);
geometry_msgs.msg.PosePubSubType.write(data.map_pose, cdr);
if (data.imu_measurements == null)
{
cdr.write_type_2(0);
}
else
{
int imu_measurements_length = data.imu_measurements.Count;
cdr.write_type_2(imu_measurements_length);
for (int i0 = 0; i0 < imu_measurements_length; i0++)
{
halodi_msgs.msg.ImuMeasurementPubSubType.write(data.imu_measurements[i0], cdr);
}
}
if (data.joint_states == null)
{
cdr.write_type_2(0);
}
else
{
int joint_states_length = data.joint_states.Count;
cdr.write_type_2(joint_states_length);
for (int i0 = 0; i0 < joint_states_length; i0++)
{
halodi_msgs.msg.JointMeasurementPubSubType.write(data.joint_states[i0], cdr);
}
}
if (data.taskspace_feedback == null)
{
cdr.write_type_2(0);
}
else
{
int taskspace_feedback_length = data.taskspace_feedback.Count;
cdr.write_type_2(taskspace_feedback_length);
for (int i0 = 0; i0 < taskspace_feedback_length; i0++)
{
halodi_msgs.msg.TaskSpaceFeedbackPubSubType.write(data.taskspace_feedback[i0], cdr);
}
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.WholeBodyState data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(halodi_msgs.msg.WholeBodyState src, halodi_msgs.msg.WholeBodyState target)
{
target.Set(src);
}
public static void read(halodi_msgs.msg.WholeBodyState data, Halodi.CDR.CDRDeserializer cdr)
{
data.header = std_msgs.msg.HeaderPubSubType.Create();
std_msgs.msg.HeaderPubSubType.read(data.header, cdr);
data.last_received_sequence_id = cdr.read_type_2();
data.accepts_commands = cdr.read_type_7();
data.controller_state = cdr.read_type_d();
data.current_balance_mode = halodi_msgs.msg.BalanceModePubSubType.Create();
halodi_msgs.msg.BalanceModePubSubType.read(data.current_balance_mode, cdr);
data.robot_status = cdr.read_type_9();
data.pose = geometry_msgs.msg.PosePubSubType.Create();
geometry_msgs.msg.PosePubSubType.read(data.pose, cdr);
data.angular_velocity = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(data.angular_velocity, cdr);
data.linear_velocity = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(data.linear_velocity, cdr);
data.map_pose = geometry_msgs.msg.PosePubSubType.Create();
geometry_msgs.msg.PosePubSubType.read(data.map_pose, cdr);
int imu_measurements_length = cdr.read_type_2();
data.imu_measurements = new System.Collections.Generic.List <halodi_msgs.msg.ImuMeasurement>(imu_measurements_length);
for (int i = 0; i < imu_measurements_length; i++)
{
halodi_msgs.msg.ImuMeasurement new_imu_measurements = halodi_msgs.msg.ImuMeasurementPubSubType.Create();
halodi_msgs.msg.ImuMeasurementPubSubType.read(new_imu_measurements, cdr);
data.imu_measurements.Add(new_imu_measurements);
}
int joint_states_length = cdr.read_type_2();
data.joint_states = new System.Collections.Generic.List <halodi_msgs.msg.JointMeasurement>(joint_states_length);
for (int i = 0; i < joint_states_length; i++)
{
halodi_msgs.msg.JointMeasurement new_joint_states = halodi_msgs.msg.JointMeasurementPubSubType.Create();
halodi_msgs.msg.JointMeasurementPubSubType.read(new_joint_states, cdr);
data.joint_states.Add(new_joint_states);
}
int taskspace_feedback_length = cdr.read_type_2();
data.taskspace_feedback = new System.Collections.Generic.List <halodi_msgs.msg.TaskSpaceFeedback>(taskspace_feedback_length);
for (int i = 0; i < taskspace_feedback_length; i++)
{
halodi_msgs.msg.TaskSpaceFeedback new_taskspace_feedback = halodi_msgs.msg.TaskSpaceFeedbackPubSubType.Create();
halodi_msgs.msg.TaskSpaceFeedbackPubSubType.read(new_taskspace_feedback, cdr);
data.taskspace_feedback.Add(new_taskspace_feedback);
}
}
