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); } }