public override void deserialize(MemoryStream stream, halodi_msgs.msg.FeedbackParameters3D 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.FeedbackParameters3D 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.FeedbackParameters3D data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.proportional, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.integral.Count; ++i0)
{
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.integral[i0], current_alignment);
}
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.derivative, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.maximum_proportional_error.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.maximum_integral_windup.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.maximum_derivative_error.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.maximum_feedback.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.maximum_feedback_rate.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.integral_leakage.Count * 8) + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
return(current_alignment - initial_alignment);
}
public static void write(halodi_msgs.msg.FeedbackParameters3D data, Halodi.CDR.CDRSerializer cdr)
{
geometry_msgs.msg.Vector3PubSubType.write(data.proportional, cdr);
if (data.integral == null)
{
cdr.write_type_2(0);
}
else
{
int integral_length = data.integral.Count;
cdr.write_type_2(integral_length);
for (int i0 = 0; i0 < integral_length; i0++)
{
geometry_msgs.msg.Vector3PubSubType.write(data.integral[i0], cdr);
}
}
geometry_msgs.msg.Vector3PubSubType.write(data.derivative, cdr);
if (data.maximum_proportional_error == null)
{
cdr.write_type_2(0);
}
else
{
int maximum_proportional_error_length = data.maximum_proportional_error.Count;
cdr.write_type_2(maximum_proportional_error_length);
for (int i0 = 0; i0 < maximum_proportional_error_length; i0++)
{
cdr.write_type_6(data.maximum_proportional_error[i0]);
}
}
if (data.maximum_integral_windup == null)
{
cdr.write_type_2(0);
}
else
{
int maximum_integral_windup_length = data.maximum_integral_windup.Count;
cdr.write_type_2(maximum_integral_windup_length);
for (int i0 = 0; i0 < maximum_integral_windup_length; i0++)
{
cdr.write_type_6(data.maximum_integral_windup[i0]);
}
}
if (data.maximum_derivative_error == null)
{
cdr.write_type_2(0);
}
else
{
int maximum_derivative_error_length = data.maximum_derivative_error.Count;
cdr.write_type_2(maximum_derivative_error_length);
for (int i0 = 0; i0 < maximum_derivative_error_length; i0++)
{
cdr.write_type_6(data.maximum_derivative_error[i0]);
}
}
if (data.maximum_feedback == null)
{
cdr.write_type_2(0);
}
else
{
int maximum_feedback_length = data.maximum_feedback.Count;
cdr.write_type_2(maximum_feedback_length);
for (int i0 = 0; i0 < maximum_feedback_length; i0++)
{
cdr.write_type_6(data.maximum_feedback[i0]);
}
}
if (data.maximum_feedback_rate == null)
{
cdr.write_type_2(0);
}
else
{
int maximum_feedback_rate_length = data.maximum_feedback_rate.Count;
cdr.write_type_2(maximum_feedback_rate_length);
for (int i0 = 0; i0 < maximum_feedback_rate_length; i0++)
{
cdr.write_type_6(data.maximum_feedback_rate[i0]);
}
}
if (data.integral_leakage == null)
{
cdr.write_type_2(0);
}
else
{
int integral_leakage_length = data.integral_leakage.Count;
cdr.write_type_2(integral_leakage_length);
for (int i0 = 0; i0 < integral_leakage_length; i0++)
{
cdr.write_type_6(data.integral_leakage[i0]);
}
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.FeedbackParameters3D data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(halodi_msgs.msg.FeedbackParameters3D src, halodi_msgs.msg.FeedbackParameters3D target)
{
target.Set(src);
}
public static void read(halodi_msgs.msg.FeedbackParameters3D data, Halodi.CDR.CDRDeserializer cdr)
{
data.proportional = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(data.proportional, cdr);
int integral_length = cdr.read_type_2();
data.integral = new System.Collections.Generic.List <geometry_msgs.msg.Vector3>(integral_length);
for (int i = 0; i < integral_length; i++)
{
geometry_msgs.msg.Vector3 new_integral = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(new_integral, cdr);
data.integral.Add(new_integral);
}
data.derivative = geometry_msgs.msg.Vector3PubSubType.Create();
geometry_msgs.msg.Vector3PubSubType.read(data.derivative, cdr);
int maximum_proportional_error_length = cdr.read_type_2();
data.maximum_proportional_error = new System.Collections.Generic.List <double>(maximum_proportional_error_length);
for (int i = 0; i < maximum_proportional_error_length; i++)
{
data.maximum_proportional_error.Add(cdr.read_type_6());
}
int maximum_integral_windup_length = cdr.read_type_2();
data.maximum_integral_windup = new System.Collections.Generic.List <double>(maximum_integral_windup_length);
for (int i = 0; i < maximum_integral_windup_length; i++)
{
data.maximum_integral_windup.Add(cdr.read_type_6());
}
int maximum_derivative_error_length = cdr.read_type_2();
data.maximum_derivative_error = new System.Collections.Generic.List <double>(maximum_derivative_error_length);
for (int i = 0; i < maximum_derivative_error_length; i++)
{
data.maximum_derivative_error.Add(cdr.read_type_6());
}
int maximum_feedback_length = cdr.read_type_2();
data.maximum_feedback = new System.Collections.Generic.List <double>(maximum_feedback_length);
for (int i = 0; i < maximum_feedback_length; i++)
{
data.maximum_feedback.Add(cdr.read_type_6());
}
int maximum_feedback_rate_length = cdr.read_type_2();
data.maximum_feedback_rate = new System.Collections.Generic.List <double>(maximum_feedback_rate_length);
for (int i = 0; i < maximum_feedback_rate_length; i++)
{
data.maximum_feedback_rate.Add(cdr.read_type_6());
}
int integral_leakage_length = cdr.read_type_2();
data.integral_leakage = new System.Collections.Generic.List <double>(integral_leakage_length);
for (int i = 0; i < integral_leakage_length; i++)
{
data.integral_leakage.Add(cdr.read_type_6());
}
}
public void Set(TaskSpaceCommand other)
{
halodi_msgs.msg.ReferenceFrameNamePubSubType.Copy(other.body_frame, body_frame);
halodi_msgs.msg.ReferenceFrameNamePubSubType.Copy(other.expressed_in_frame, expressed_in_frame);
express_in_z_up = other.express_in_z_up;
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.Vector3PubSubType.Copy(other.angular_acceleration, angular_acceleration);
geometry_msgs.msg.Vector3PubSubType.Copy(other.linear_acceleration, linear_acceleration);
if (other.passivity_input == null)
{
passivity_input = null;
}
else
{
passivity_input = new System.Collections.Generic.List <halodi_msgs.msg.PassivityData>(other.passivity_input.Count);
for (int i1 = 0; i1 < other.passivity_input.Count; i1++)
{
if (other.passivity_input[i1] == null)
{
passivity_input.Add(null);
}
else
{
halodi_msgs.msg.PassivityData newElement = halodi_msgs.msg.PassivityDataPubSubType.Create();
halodi_msgs.msg.PassivityDataPubSubType.Copy(other.passivity_input[i1], newElement);
passivity_input.Add(newElement);
}
}
}
if (other.orientation_feedback_parameters == null)
{
orientation_feedback_parameters = null;
}
else
{
orientation_feedback_parameters = new System.Collections.Generic.List <halodi_msgs.msg.FeedbackParameters3D>(other.orientation_feedback_parameters.Count);
for (int i2 = 0; i2 < other.orientation_feedback_parameters.Count; i2++)
{
if (other.orientation_feedback_parameters[i2] == null)
{
orientation_feedback_parameters.Add(null);
}
else
{
halodi_msgs.msg.FeedbackParameters3D newElement = halodi_msgs.msg.FeedbackParameters3DPubSubType.Create();
halodi_msgs.msg.FeedbackParameters3DPubSubType.Copy(other.orientation_feedback_parameters[i2], newElement);
orientation_feedback_parameters.Add(newElement);
}
}
}
if (other.position_feedback_parameters == null)
{
position_feedback_parameters = null;
}
else
{
position_feedback_parameters = new System.Collections.Generic.List <halodi_msgs.msg.FeedbackParameters3D>(other.position_feedback_parameters.Count);
for (int i3 = 0; i3 < other.position_feedback_parameters.Count; i3++)
{
if (other.position_feedback_parameters[i3] == null)
{
position_feedback_parameters.Add(null);
}
else
{
halodi_msgs.msg.FeedbackParameters3D newElement = halodi_msgs.msg.FeedbackParameters3DPubSubType.Create();
halodi_msgs.msg.FeedbackParameters3DPubSubType.Copy(other.position_feedback_parameters[i3], newElement);
position_feedback_parameters.Add(newElement);
}
}
}
if (other.nullspace_command == null)
{
nullspace_command = null;
}
else
{
nullspace_command = new System.Collections.Generic.List <halodi_msgs.msg.JointNullSpaceConfiguration>(other.nullspace_command.Count);
for (int i4 = 0; i4 < other.nullspace_command.Count; i4++)
{
if (other.nullspace_command[i4] == null)
{
nullspace_command.Add(null);
}
else
{
halodi_msgs.msg.JointNullSpaceConfiguration newElement = halodi_msgs.msg.JointNullSpaceConfigurationPubSubType.Create();
halodi_msgs.msg.JointNullSpaceConfigurationPubSubType.Copy(other.nullspace_command[i4], newElement);
nullspace_command.Add(newElement);
}
}
}
}
public static void read(halodi_msgs.msg.TaskSpaceCommand 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.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.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_input_length = cdr.read_type_2();
data.passivity_input = new System.Collections.Generic.List <halodi_msgs.msg.PassivityData>(passivity_input_length);
for (int i = 0; i < passivity_input_length; i++)
{
halodi_msgs.msg.PassivityData new_passivity_input = halodi_msgs.msg.PassivityDataPubSubType.Create();
halodi_msgs.msg.PassivityDataPubSubType.read(new_passivity_input, cdr);
data.passivity_input.Add(new_passivity_input);
}
int orientation_feedback_parameters_length = cdr.read_type_2();
data.orientation_feedback_parameters = new System.Collections.Generic.List <halodi_msgs.msg.FeedbackParameters3D>(orientation_feedback_parameters_length);
for (int i = 0; i < orientation_feedback_parameters_length; i++)
{
halodi_msgs.msg.FeedbackParameters3D new_orientation_feedback_parameters = halodi_msgs.msg.FeedbackParameters3DPubSubType.Create();
halodi_msgs.msg.FeedbackParameters3DPubSubType.read(new_orientation_feedback_parameters, cdr);
data.orientation_feedback_parameters.Add(new_orientation_feedback_parameters);
}
int position_feedback_parameters_length = cdr.read_type_2();
data.position_feedback_parameters = new System.Collections.Generic.List <halodi_msgs.msg.FeedbackParameters3D>(position_feedback_parameters_length);
for (int i = 0; i < position_feedback_parameters_length; i++)
{
halodi_msgs.msg.FeedbackParameters3D new_position_feedback_parameters = halodi_msgs.msg.FeedbackParameters3DPubSubType.Create();
halodi_msgs.msg.FeedbackParameters3DPubSubType.read(new_position_feedback_parameters, cdr);
data.position_feedback_parameters.Add(new_position_feedback_parameters);
}
int nullspace_command_length = cdr.read_type_2();
data.nullspace_command = new System.Collections.Generic.List <halodi_msgs.msg.JointNullSpaceConfiguration>(nullspace_command_length);
for (int i = 0; i < nullspace_command_length; i++)
{
halodi_msgs.msg.JointNullSpaceConfiguration new_nullspace_command = halodi_msgs.msg.JointNullSpaceConfigurationPubSubType.Create();
halodi_msgs.msg.JointNullSpaceConfigurationPubSubType.read(new_nullspace_command, cdr);
data.nullspace_command.Add(new_nullspace_command);
}
}
