public static void read(halodi_msgs.msg.TaskSpaceFeedback data, Halodi.CDR.CDRDeserializer cdr)
{
data.body_frame = halodi_msgs.msg.ReferenceFrameNamePubSubType.Create();
halodi_msgs.msg.ReferenceFrameNamePubSubType.read(data.body_frame, cdr);
data.expressed_in_frame = halodi_msgs.msg.ReferenceFrameNamePubSubType.Create();
halodi_msgs.msg.ReferenceFrameNamePubSubType.read(data.expressed_in_frame, cdr);
data.express_in_z_up = cdr.read_type_7();
data.angular_acceleration = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(data.angular_acceleration, cdr);
data.linear_acceleration = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(data.linear_acceleration, cdr);
int passivity_output_length = cdr.read_type_2();
data.passivity_output = new System.Collections.Generic.List <halodi_msgs.msg.PassivityData>(passivity_output_length);
for (int i = 0; i < passivity_output_length; i++)
{
halodi_msgs.msg.PassivityData new_passivity_output = halodi_msgs.msg.PassivityDataPubSubType.Create();
halodi_msgs.msg.PassivityDataPubSubType.read(new_passivity_output, cdr);
data.passivity_output.Add(new_passivity_output);
}
}
public static void write(halodi_msgs.msg.TaskSpaceFeedback data, Halodi.CDR.CDRSerializer cdr)
{
halodi_msgs.msg.ReferenceFrameNamePubSubType.write(data.body_frame, cdr);
halodi_msgs.msg.ReferenceFrameNamePubSubType.write(data.expressed_in_frame, cdr);
cdr.write_type_7(data.express_in_z_up);
geometry_msgs.msg.Vector3PubSubType.write(data.angular_acceleration, cdr);
geometry_msgs.msg.Vector3PubSubType.write(data.linear_acceleration, cdr);
if (data.passivity_output == null)
{
cdr.write_type_2(0);
}
else
{
int passivity_output_length = data.passivity_output.Count;
cdr.write_type_2(passivity_output_length);
for (int i0 = 0; i0 < passivity_output_length; i0++)
{
halodi_msgs.msg.PassivityDataPubSubType.write(data.passivity_output[i0], cdr);
}
}
}
public override void deserialize(MemoryStream stream, halodi_msgs.msg.TaskSpaceFeedback 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.TaskSpaceFeedback 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.TaskSpaceFeedback data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += halodi_msgs.msg.ReferenceFrameNamePubSubType.getCdrSerializedSize(data.body_frame, current_alignment);
current_alignment += halodi_msgs.msg.ReferenceFrameNamePubSubType.getCdrSerializedSize(data.expressed_in_frame, current_alignment);
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.angular_acceleration, current_alignment);
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.linear_acceleration, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.passivity_output.Count; ++i0)
{
current_alignment += halodi_msgs.msg.PassivityDataPubSubType.getCdrSerializedSize(data.passivity_output[i0], current_alignment);
}
return(current_alignment - initial_alignment);
}
public void Set(WholeBodyState other)
{
std_msgs.msg.HeaderPubSubType.Copy(other.header, header);
last_received_sequence_id = other.last_received_sequence_id;
accepts_commands = other.accepts_commands;
controller_state = other.controller_state;
halodi_msgs.msg.BalanceModePubSubType.Copy(other.current_balance_mode, current_balance_mode);
robot_status = other.robot_status;
geometry_msgs.msg.PosePubSubType.Copy(other.pose, pose);
geometry_msgs.msg.Vector3PubSubType.Copy(other.angular_velocity, angular_velocity);
geometry_msgs.msg.Vector3PubSubType.Copy(other.linear_velocity, linear_velocity);
geometry_msgs.msg.PosePubSubType.Copy(other.map_pose, map_pose);
if (other.imu_measurements == null)
{
imu_measurements = null;
}
else
{
imu_measurements = new System.Collections.Generic.List <halodi_msgs.msg.ImuMeasurement>(other.imu_measurements.Count);
for (int i1 = 0; i1 < other.imu_measurements.Count; i1++)
{
if (other.imu_measurements[i1] == null)
{
imu_measurements.Add(null);
}
else
{
halodi_msgs.msg.ImuMeasurement newElement = halodi_msgs.msg.ImuMeasurementPubSubType.Create();
halodi_msgs.msg.ImuMeasurementPubSubType.Copy(other.imu_measurements[i1], newElement);
imu_measurements.Add(newElement);
}
}
}
if (other.joint_states == null)
{
joint_states = null;
}
else
{
joint_states = new System.Collections.Generic.List <halodi_msgs.msg.JointMeasurement>(other.joint_states.Count);
for (int i2 = 0; i2 < other.joint_states.Count; i2++)
{
if (other.joint_states[i2] == null)
{
joint_states.Add(null);
}
else
{
halodi_msgs.msg.JointMeasurement newElement = halodi_msgs.msg.JointMeasurementPubSubType.Create();
halodi_msgs.msg.JointMeasurementPubSubType.Copy(other.joint_states[i2], newElement);
joint_states.Add(newElement);
}
}
}
if (other.taskspace_feedback == null)
{
taskspace_feedback = null;
}
else
{
taskspace_feedback = new System.Collections.Generic.List <halodi_msgs.msg.TaskSpaceFeedback>(other.taskspace_feedback.Count);
for (int i3 = 0; i3 < other.taskspace_feedback.Count; i3++)
{
if (other.taskspace_feedback[i3] == null)
{
taskspace_feedback.Add(null);
}
else
{
halodi_msgs.msg.TaskSpaceFeedback newElement = halodi_msgs.msg.TaskSpaceFeedbackPubSubType.Create();
halodi_msgs.msg.TaskSpaceFeedbackPubSubType.Copy(other.taskspace_feedback[i3], newElement);
taskspace_feedback.Add(newElement);
}
}
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.TaskSpaceFeedback data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(halodi_msgs.msg.TaskSpaceFeedback src, halodi_msgs.msg.TaskSpaceFeedback 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);
}
}
