public static int getCdrSerializedSize(halodi_msgs.msg.ContactPointCommand data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += halodi_msgs.msg.JointNamePubSubType.getCdrSerializedSize(data.parent_joint, 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);
for (int i0 = 0; i0 < data.normal.Count; ++i0)
{
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.normal[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.coefficient_of_friction.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.maximum_contact_force.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.rho_weight_divider.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
return(current_alignment - initial_alignment);
}
public override void deserialize(MemoryStream stream, halodi_msgs.msg.ContactPointCommand 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.ContactPointCommand 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(halodi_msgs.msg.ContactPointCommand data, Halodi.CDR.CDRDeserializer cdr)
{
data.parent_joint = halodi_msgs.msg.JointNamePubSubType.Create();
halodi_msgs.msg.JointNamePubSubType.read(data.parent_joint, cdr);
data.contact_point_id = cdr.read_type_2();
data.point_in_contact = cdr.read_type_7();
int normal_length = cdr.read_type_2();
data.normal = new System.Collections.Generic.List <geometry_msgs.msg.Vector3>(normal_length);
for (int i = 0; i < normal_length; i++)
{
geometry_msgs.msg.Vector3 new_normal = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(new_normal, cdr);
data.normal.Add(new_normal);
}
int coefficient_of_friction_length = cdr.read_type_2();
data.coefficient_of_friction = new System.Collections.Generic.List <double>(coefficient_of_friction_length);
for (int i = 0; i < coefficient_of_friction_length; i++)
{
data.coefficient_of_friction.Add(cdr.read_type_6());
}
int maximum_contact_force_length = cdr.read_type_2();
data.maximum_contact_force = new System.Collections.Generic.List <double>(maximum_contact_force_length);
for (int i = 0; i < maximum_contact_force_length; i++)
{
data.maximum_contact_force.Add(cdr.read_type_6());
}
int rho_weight_divider_length = cdr.read_type_2();
data.rho_weight_divider = new System.Collections.Generic.List <double>(rho_weight_divider_length);
for (int i = 0; i < rho_weight_divider_length; i++)
{
data.rho_weight_divider.Add(cdr.read_type_6());
}
}
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 read(halodi_msgs.msg.WholeBodyTrajectoryPoint data, Halodi.CDR.CDRDeserializer cdr)
{
data.time_from_start = builtin_interfaces.msg.DurationPubSubType.Create();
builtin_interfaces.msg.DurationPubSubType.read(data.time_from_start, 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 icp_offset_command_length = cdr.read_type_2();
data.icp_offset_command = new System.Collections.Generic.List <geometry_msgs.msg.Vector3>(icp_offset_command_length);
for (int i = 0; i < icp_offset_command_length; i++)
{
geometry_msgs.msg.Vector3 new_icp_offset_command = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(new_icp_offset_command, cdr);
data.icp_offset_command.Add(new_icp_offset_command);
}
int left_hand_command_length = cdr.read_type_2();
data.left_hand_command = new System.Collections.Generic.List <halodi_msgs.msg.HandCommand>(left_hand_command_length);
for (int i = 0; i < left_hand_command_length; i++)
{
halodi_msgs.msg.HandCommand new_left_hand_command = halodi_msgs.msg.HandCommandPubSubType.Create();
halodi_msgs.msg.HandCommandPubSubType.read(new_left_hand_command, cdr);
data.left_hand_command.Add(new_left_hand_command);
}
int right_hand_command_length = cdr.read_type_2();
data.right_hand_command = new System.Collections.Generic.List <halodi_msgs.msg.HandCommand>(right_hand_command_length);
for (int i = 0; i < right_hand_command_length; i++)
{
halodi_msgs.msg.HandCommand new_right_hand_command = halodi_msgs.msg.HandCommandPubSubType.Create();
halodi_msgs.msg.HandCommandPubSubType.read(new_right_hand_command, cdr);
data.right_hand_command.Add(new_right_hand_command);
}
}
public void Set(WholeBodyTrajectoryPoint other)
{
builtin_interfaces.msg.DurationPubSubType.Copy(other.time_from_start, time_from_start);
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.icp_offset_command == null)
{
icp_offset_command = null;
}
else
{
icp_offset_command = new System.Collections.Generic.List <geometry_msgs.msg.Vector3>(other.icp_offset_command.Count);
for (int i4 = 0; i4 < other.icp_offset_command.Count; i4++)
{
if (other.icp_offset_command[i4] == null)
{
icp_offset_command.Add(null);
}
else
{
geometry_msgs.msg.Vector3 newElement = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.Copy(other.icp_offset_command[i4], newElement);
icp_offset_command.Add(newElement);
}
}
}
if (other.left_hand_command == null)
{
left_hand_command = null;
}
else
{
left_hand_command = new System.Collections.Generic.List <halodi_msgs.msg.HandCommand>(other.left_hand_command.Count);
for (int i5 = 0; i5 < other.left_hand_command.Count; i5++)
{
if (other.left_hand_command[i5] == null)
{
left_hand_command.Add(null);
}
else
{
halodi_msgs.msg.HandCommand newElement = halodi_msgs.msg.HandCommandPubSubType.Create();
halodi_msgs.msg.HandCommandPubSubType.Copy(other.left_hand_command[i5], newElement);
left_hand_command.Add(newElement);
}
}
}
if (other.right_hand_command == null)
{
right_hand_command = null;
}
else
{
right_hand_command = new System.Collections.Generic.List <halodi_msgs.msg.HandCommand>(other.right_hand_command.Count);
for (int i6 = 0; i6 < other.right_hand_command.Count; i6++)
{
if (other.right_hand_command[i6] == null)
{
right_hand_command.Add(null);
}
else
{
halodi_msgs.msg.HandCommand newElement = halodi_msgs.msg.HandCommandPubSubType.Create();
halodi_msgs.msg.HandCommandPubSubType.Copy(other.right_hand_command[i6], newElement);
right_hand_command.Add(newElement);
}
}
}
}
public static void write(halodi_msgs.msg.ContactPointCommand data, Halodi.CDR.CDRSerializer cdr)
{
halodi_msgs.msg.JointNamePubSubType.write(data.parent_joint, cdr);
cdr.write_type_2(data.contact_point_id);
cdr.write_type_7(data.point_in_contact);
if (data.normal == null)
{
cdr.write_type_2(0);
}
else
{
int normal_length = data.normal.Count;
cdr.write_type_2(normal_length);
for (int i0 = 0; i0 < normal_length; i0++)
{
geometry_msgs.msg.Vector3PubSubType.write(data.normal[i0], cdr);
}
}
if (data.coefficient_of_friction == null)
{
cdr.write_type_2(0);
}
else
{
int coefficient_of_friction_length = data.coefficient_of_friction.Count;
cdr.write_type_2(coefficient_of_friction_length);
for (int i0 = 0; i0 < coefficient_of_friction_length; i0++)
{
cdr.write_type_6(data.coefficient_of_friction[i0]);
}
}
if (data.maximum_contact_force == null)
{
cdr.write_type_2(0);
}
else
{
int maximum_contact_force_length = data.maximum_contact_force.Count;
cdr.write_type_2(maximum_contact_force_length);
for (int i0 = 0; i0 < maximum_contact_force_length; i0++)
{
cdr.write_type_6(data.maximum_contact_force[i0]);
}
}
if (data.rho_weight_divider == null)
{
cdr.write_type_2(0);
}
else
{
int rho_weight_divider_length = data.rho_weight_divider.Count;
cdr.write_type_2(rho_weight_divider_length);
for (int i0 = 0; i0 < rho_weight_divider_length; i0++)
{
cdr.write_type_6(data.rho_weight_divider[i0]);
}
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.ContactPointCommand data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(halodi_msgs.msg.ContactPointCommand src, halodi_msgs.msg.ContactPointCommand target)
{
target.Set(src);
}
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);
}
}
