public override void deserialize(MemoryStream stream, halodi_msgs.msg.WholeBodyControllerCommand 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.WholeBodyControllerCommand 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.WholeBodyControllerCommand data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += halodi_msgs.msg.BalanceModePubSubType.getCdrSerializedSize(data.balance_mode, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.task_space_commands.Count; ++i0)
{
current_alignment += halodi_msgs.msg.TaskSpaceCommandPubSubType.getCdrSerializedSize(data.task_space_commands[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.joint_space_commands.Count; ++i0)
{
current_alignment += halodi_msgs.msg.JointSpaceCommandPubSubType.getCdrSerializedSize(data.joint_space_commands[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.contact_point_commands.Count; ++i0)
{
current_alignment += halodi_msgs.msg.ContactPointCommandPubSubType.getCdrSerializedSize(data.contact_point_commands[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.driving_command.Count; ++i0)
{
current_alignment += halodi_msgs.msg.DrivingCommandPubSubType.getCdrSerializedSize(data.driving_command[i0], current_alignment);
}
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
for (int i0 = 0; i0 < data.icp_command.Count; ++i0)
{
current_alignment += geometry_msgs.msg.Vector3PubSubType.getCdrSerializedSize(data.icp_command[i0], current_alignment);
}
return(current_alignment - initial_alignment);
}
public static void write(halodi_msgs.msg.WholeBodyControllerCommand data, Halodi.CDR.CDRSerializer cdr)
{
cdr.write_type_2(data.sequence_id);
halodi_msgs.msg.BalanceModePubSubType.write(data.balance_mode, cdr);
if (data.task_space_commands == null)
{
cdr.write_type_2(0);
}
else
{
int task_space_commands_length = data.task_space_commands.Count;
cdr.write_type_2(task_space_commands_length);
for (int i0 = 0; i0 < task_space_commands_length; i0++)
{
halodi_msgs.msg.TaskSpaceCommandPubSubType.write(data.task_space_commands[i0], cdr);
}
}
if (data.joint_space_commands == null)
{
cdr.write_type_2(0);
}
else
{
int joint_space_commands_length = data.joint_space_commands.Count;
cdr.write_type_2(joint_space_commands_length);
for (int i0 = 0; i0 < joint_space_commands_length; i0++)
{
halodi_msgs.msg.JointSpaceCommandPubSubType.write(data.joint_space_commands[i0], cdr);
}
}
if (data.contact_point_commands == null)
{
cdr.write_type_2(0);
}
else
{
int contact_point_commands_length = data.contact_point_commands.Count;
cdr.write_type_2(contact_point_commands_length);
for (int i0 = 0; i0 < contact_point_commands_length; i0++)
{
halodi_msgs.msg.ContactPointCommandPubSubType.write(data.contact_point_commands[i0], cdr);
}
}
if (data.driving_command == null)
{
cdr.write_type_2(0);
}
else
{
int driving_command_length = data.driving_command.Count;
cdr.write_type_2(driving_command_length);
for (int i0 = 0; i0 < driving_command_length; i0++)
{
halodi_msgs.msg.DrivingCommandPubSubType.write(data.driving_command[i0], cdr);
}
}
if (data.icp_command == null)
{
cdr.write_type_2(0);
}
else
{
int icp_command_length = data.icp_command.Count;
cdr.write_type_2(icp_command_length);
for (int i0 = 0; i0 < icp_command_length; i0++)
{
geometry_msgs.msg.Vector3PubSubType.write(data.icp_command[i0], cdr);
}
}
}
public static int getCdrSerializedSize(halodi_msgs.msg.WholeBodyControllerCommand data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(halodi_msgs.msg.WholeBodyControllerCommand src, halodi_msgs.msg.WholeBodyControllerCommand 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);
}
}