public static void read(halodi_msgs.msg.HandCommand data, Halodi.CDR.CDRDeserializer cdr)
{
data.closure = cdr.read_type_6();
data.speed = cdr.read_type_6();
data.force = cdr.read_type_6();
}
public override void deserialize(MemoryStream stream, halodi_msgs.msg.HandCommand data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public static void write(halodi_msgs.msg.HandCommand data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_6(data.closure);
cdr.write_type_6(data.speed);
cdr.write_type_6(data.force);
}
public override void serialize(halodi_msgs.msg.HandCommand 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.HandCommand data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
current_alignment += 8 + Halodi.CDR.CDRCommon.alignment(current_alignment, 8);
return(current_alignment - initial_alignment);
}
public static void Copy(halodi_msgs.msg.HandCommand src, halodi_msgs.msg.HandCommand target)
{
target.Set(src);
}
public static int getCdrSerializedSize(halodi_msgs.msg.HandCommand data)
{
return(getCdrSerializedSize(data, 0));
}
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);
}
}
}
}
