public override void deserialize(MemoryStream stream, ocs2_ros2_msgs.msg.MpcFlattenedController data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(ocs2_ros2_msgs.msg.MpcFlattenedController 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(ocs2_ros2_msgs.msg.MpcFlattenedController data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += ocs2_ros2_msgs.msg.MpcObservationPubSubType.getCdrSerializedSize(data.init_observation, current_alignment);
current_alignment += ocs2_ros2_msgs.msg.MpcTargetTrajectoriesPubSubType.getCdrSerializedSize(data.plan_target_trajectories, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.state_trajectory.Count; ++i0)
{
current_alignment += ocs2_ros2_msgs.msg.MpcStatePubSubType.getCdrSerializedSize(data.state_trajectory[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.input_trajectory.Count; ++i0)
{
current_alignment += ocs2_ros2_msgs.msg.MpcInputPubSubType.getCdrSerializedSize(data.input_trajectory[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.time_trajectory.Count * 4) + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += ocs2_ros2_msgs.msg.ModeSchedulePubSubType.getCdrSerializedSize(data.mode_schedule, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.data.Count; ++i0)
{
current_alignment += ocs2_ros2_msgs.msg.ControllerDataPubSubType.getCdrSerializedSize(data.data[i0], current_alignment);
}
current_alignment += ocs2_ros2_msgs.msg.MpcPerformanceIndicesPubSubType.getCdrSerializedSize(data.performance_indices, current_alignment);
return(current_alignment - initial_alignment);
}
public static void write(ocs2_ros2_msgs.msg.MpcFlattenedController data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_9(data.controller_type);
ocs2_ros2_msgs.msg.MpcObservationPubSubType.write(data.init_observation, cdr);
ocs2_ros2_msgs.msg.MpcTargetTrajectoriesPubSubType.write(data.plan_target_trajectories, cdr);
if (data.state_trajectory == null)
{
cdr.write_type_2(0);
}
else
{
int state_trajectory_length = data.state_trajectory.Count;
cdr.write_type_2(state_trajectory_length);
for (int i0 = 0; i0 < state_trajectory_length; i0++)
{
ocs2_ros2_msgs.msg.MpcStatePubSubType.write(data.state_trajectory[i0], cdr);
}
}
if (data.input_trajectory == null)
{
cdr.write_type_2(0);
}
else
{
int input_trajectory_length = data.input_trajectory.Count;
cdr.write_type_2(input_trajectory_length);
for (int i0 = 0; i0 < input_trajectory_length; i0++)
{
ocs2_ros2_msgs.msg.MpcInputPubSubType.write(data.input_trajectory[i0], cdr);
}
}
if (data.time_trajectory == null)
{
cdr.write_type_2(0);
}
else
{
int time_trajectory_length = data.time_trajectory.Count;
cdr.write_type_2(time_trajectory_length);
for (int i0 = 0; i0 < time_trajectory_length; i0++)
{
cdr.write_type_5(data.time_trajectory[i0]);
}
}
ocs2_ros2_msgs.msg.ModeSchedulePubSubType.write(data.mode_schedule, cdr);
if (data.data == null)
{
cdr.write_type_2(0);
}
else
{
int data_length = data.data.Count;
cdr.write_type_2(data_length);
for (int i0 = 0; i0 < data_length; i0++)
{
ocs2_ros2_msgs.msg.ControllerDataPubSubType.write(data.data[i0], cdr);
}
}
ocs2_ros2_msgs.msg.MpcPerformanceIndicesPubSubType.write(data.performance_indices, cdr);
}
public static int getCdrSerializedSize(ocs2_ros2_msgs.msg.MpcFlattenedController data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(ocs2_ros2_msgs.msg.MpcFlattenedController src, ocs2_ros2_msgs.msg.MpcFlattenedController target)
{
target.Set(src);
}
public static void read(ocs2_ros2_msgs.msg.MpcFlattenedController data, Halodi.CDR.CDRDeserializer cdr)
{
data.controller_type = cdr.read_type_9();
data.init_observation = ocs2_ros2_msgs.msg.MpcObservationPubSubType.Create();
ocs2_ros2_msgs.msg.MpcObservationPubSubType.read(data.init_observation, cdr);
data.plan_target_trajectories = ocs2_ros2_msgs.msg.MpcTargetTrajectoriesPubSubType.Create();
ocs2_ros2_msgs.msg.MpcTargetTrajectoriesPubSubType.read(data.plan_target_trajectories, cdr);
int state_trajectory_length = cdr.read_type_2();
data.state_trajectory = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.MpcState>(state_trajectory_length);
for (int i = 0; i < state_trajectory_length; i++)
{
ocs2_ros2_msgs.msg.MpcState new_state_trajectory = ocs2_ros2_msgs.msg.MpcStatePubSubType.Create();
ocs2_ros2_msgs.msg.MpcStatePubSubType.read(new_state_trajectory, cdr);
data.state_trajectory.Add(new_state_trajectory);
}
int input_trajectory_length = cdr.read_type_2();
data.input_trajectory = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.MpcInput>(input_trajectory_length);
for (int i = 0; i < input_trajectory_length; i++)
{
ocs2_ros2_msgs.msg.MpcInput new_input_trajectory = ocs2_ros2_msgs.msg.MpcInputPubSubType.Create();
ocs2_ros2_msgs.msg.MpcInputPubSubType.read(new_input_trajectory, cdr);
data.input_trajectory.Add(new_input_trajectory);
}
int time_trajectory_length = cdr.read_type_2();
data.time_trajectory = new System.Collections.Generic.List <float>(time_trajectory_length);
for (int i = 0; i < time_trajectory_length; i++)
{
data.time_trajectory.Add(cdr.read_type_5());
}
data.mode_schedule = ocs2_ros2_msgs.msg.ModeSchedulePubSubType.Create();
ocs2_ros2_msgs.msg.ModeSchedulePubSubType.read(data.mode_schedule, cdr);
int data_length = cdr.read_type_2();
data.data = new System.Collections.Generic.List <ocs2_ros2_msgs.msg.ControllerData>(data_length);
for (int i = 0; i < data_length; i++)
{
ocs2_ros2_msgs.msg.ControllerData new_data = ocs2_ros2_msgs.msg.ControllerDataPubSubType.Create();
ocs2_ros2_msgs.msg.ControllerDataPubSubType.read(new_data, cdr);
data.data.Add(new_data);
}
data.performance_indices = ocs2_ros2_msgs.msg.MpcPerformanceIndicesPubSubType.Create();
ocs2_ros2_msgs.msg.MpcPerformanceIndicesPubSubType.read(data.performance_indices, cdr);
}