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); } }