public static int getCdrSerializedSize(halodi_msgs.msg.WholeBodyTrajectory data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += unique_identifier_msgs.msg.UUIDPubSubType.getCdrSerializedSize(data.trajectory_id, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.start_time.Count; ++i0)
{
current_alignment += builtin_interfaces.msg.TimePubSubType.getCdrSerializedSize(data.start_time[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.balance_mode.Count; ++i0)
{
current_alignment += halodi_msgs.msg.BalanceModePubSubType.getCdrSerializedSize(data.balance_mode[i0], current_alignment);
}
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += halodi_msgs.msg.TrajectoryInterpolationPubSubType.getCdrSerializedSize(data.interpolation_mode, current_alignment);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.trajectory_points.Count; ++i0)
{
current_alignment += halodi_msgs.msg.WholeBodyTrajectoryPointPubSubType.getCdrSerializedSize(data.trajectory_points[i0], current_alignment);
}
return(current_alignment - initial_alignment);
}
public override void deserialize(MemoryStream stream, halodi_msgs.msg.WholeBodyTrajectory 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.WholeBodyTrajectory data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public static void write(halodi_msgs.msg.WholeBodyTrajectory data, Halodi.CDR.CDRSerializer cdr)
{
unique_identifier_msgs.msg.UUIDPubSubType.write(data.trajectory_id, cdr);
if (data.start_time == null)
{
cdr.write_type_2(0);
}
else
{
int start_time_length = data.start_time.Count;
cdr.write_type_2(start_time_length);
for (int i0 = 0; i0 < start_time_length; i0++)
{
builtin_interfaces.msg.TimePubSubType.write(data.start_time[i0], cdr);
}
}
if (data.balance_mode == null)
{
cdr.write_type_2(0);
}
else
{
int balance_mode_length = data.balance_mode.Count;
cdr.write_type_2(balance_mode_length);
for (int i0 = 0; i0 < balance_mode_length; i0++)
{
halodi_msgs.msg.BalanceModePubSubType.write(data.balance_mode[i0], cdr);
}
}
cdr.write_type_7(data.append_trajectory);
halodi_msgs.msg.TrajectoryInterpolationPubSubType.write(data.interpolation_mode, cdr);
cdr.write_type_6(data.low_pass_filter_break_frequency);
if (data.trajectory_points == null)
{
cdr.write_type_2(0);
}
else
{
int trajectory_points_length = data.trajectory_points.Count;
cdr.write_type_2(trajectory_points_length);
for (int i0 = 0; i0 < trajectory_points_length; i0++)
{
halodi_msgs.msg.WholeBodyTrajectoryPointPubSubType.write(data.trajectory_points[i0], 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.WholeBodyTrajectory data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(halodi_msgs.msg.WholeBodyTrajectory src, halodi_msgs.msg.WholeBodyTrajectory target)
{
target.Set(src);
}
