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unitreeApp/unitree_SDK/include/unitree/idl/hg/HandState_.hpp

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2025-09-24 10:53:28 +08:00
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: HandState_.idl
Source: HandState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP
#define DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP
#include "unitree/idl/hg/IMUState_.hpp"
#include "unitree/idl/hg/MotorState_.hpp"
#include "unitree/idl/hg/PressSensorState_.hpp"
#include <cstdint>
#include <array>
#include <vector>
namespace unitree_hg
{
namespace msg
{
namespace dds_
{
class HandState_
{
private:
std::vector<::unitree_hg::msg::dds_::MotorState_> motor_state_;
std::vector<::unitree_hg::msg::dds_::PressSensorState_> press_sensor_state_;
::unitree_hg::msg::dds_::IMUState_ imu_state_;
float power_v_ = 0.0f;
float power_a_ = 0.0f;
float system_v_ = 0.0f;
float device_v_ = 0.0f;
std::array<uint32_t, 2> error_ = { };
std::array<uint32_t, 2> reserve_ = { };
public:
HandState_() = default;
explicit HandState_(
const std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state,
const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state,
const ::unitree_hg::msg::dds_::IMUState_& imu_state,
float power_v,
float power_a,
float system_v,
float device_v,
const std::array<uint32_t, 2>& error,
const std::array<uint32_t, 2>& reserve) :
motor_state_(motor_state),
press_sensor_state_(press_sensor_state),
imu_state_(imu_state),
power_v_(power_v),
power_a_(power_a),
system_v_(system_v),
device_v_(device_v),
error_(error),
reserve_(reserve) { }
const std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state() const { return this->motor_state_; }
std::vector<::unitree_hg::msg::dds_::MotorState_>& motor_state() { return this->motor_state_; }
void motor_state(const std::vector<::unitree_hg::msg::dds_::MotorState_>& _val_) { this->motor_state_ = _val_; }
void motor_state(std::vector<::unitree_hg::msg::dds_::MotorState_>&& _val_) { this->motor_state_ = _val_; }
const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state() const { return this->press_sensor_state_; }
std::vector<::unitree_hg::msg::dds_::PressSensorState_>& press_sensor_state() { return this->press_sensor_state_; }
void press_sensor_state(const std::vector<::unitree_hg::msg::dds_::PressSensorState_>& _val_) { this->press_sensor_state_ = _val_; }
void press_sensor_state(std::vector<::unitree_hg::msg::dds_::PressSensorState_>&& _val_) { this->press_sensor_state_ = _val_; }
const ::unitree_hg::msg::dds_::IMUState_& imu_state() const { return this->imu_state_; }
::unitree_hg::msg::dds_::IMUState_& imu_state() { return this->imu_state_; }
void imu_state(const ::unitree_hg::msg::dds_::IMUState_& _val_) { this->imu_state_ = _val_; }
void imu_state(::unitree_hg::msg::dds_::IMUState_&& _val_) { this->imu_state_ = _val_; }
float power_v() const { return this->power_v_; }
float& power_v() { return this->power_v_; }
void power_v(float _val_) { this->power_v_ = _val_; }
float power_a() const { return this->power_a_; }
float& power_a() { return this->power_a_; }
void power_a(float _val_) { this->power_a_ = _val_; }
float system_v() const { return this->system_v_; }
float& system_v() { return this->system_v_; }
void system_v(float _val_) { this->system_v_ = _val_; }
float device_v() const { return this->device_v_; }
float& device_v() { return this->device_v_; }
void device_v(float _val_) { this->device_v_ = _val_; }
const std::array<uint32_t, 2>& error() const { return this->error_; }
std::array<uint32_t, 2>& error() { return this->error_; }
void error(const std::array<uint32_t, 2>& _val_) { this->error_ = _val_; }
void error(std::array<uint32_t, 2>&& _val_) { this->error_ = _val_; }
const std::array<uint32_t, 2>& reserve() const { return this->reserve_; }
std::array<uint32_t, 2>& reserve() { return this->reserve_; }
void reserve(const std::array<uint32_t, 2>& _val_) { this->reserve_ = _val_; }
void reserve(std::array<uint32_t, 2>&& _val_) { this->reserve_ = _val_; }
bool operator==(const HandState_& _other) const
{
(void) _other;
return motor_state_ == _other.motor_state_ &&
press_sensor_state_ == _other.press_sensor_state_ &&
imu_state_ == _other.imu_state_ &&
power_v_ == _other.power_v_ &&
power_a_ == _other.power_a_ &&
system_v_ == _other.system_v_ &&
device_v_ == _other.device_v_ &&
error_ == _other.error_ &&
reserve_ == _other.reserve_;
}
bool operator!=(const HandState_& _other) const
{
return !(*this == _other);
}
};
}
}
}
#include "dds/topic/TopicTraits.hpp"
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
namespace org {
namespace eclipse {
namespace cyclonedds {
namespace topic {
template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::HandState_>::getTypeName()
{
return "unitree_hg::msg::dds_::HandState_";
}
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandState_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::HandState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_map_blob_sz() { return 2244; }
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_info_blob_sz() { return 244; }
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_map_blob() {
static const uint8_t blob[] = {
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0xdf, 0x44, 0x22, 0x80, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::HandState_>::type_info_blob() {
static const uint8_t blob[] = {
0xf0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00,
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0xbe, 0x16, 0xb9, 0x00, 0xf6, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
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0x30, 0x18, 0xf1, 0x8d, 0xe0, 0xed, 0x24, 0x00, 0xda, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x03, 0x93, 0x1d, 0x83, 0x67, 0x60, 0x08, 0x26, 0x6e, 0x46, 0x6a, 0x66, 0xb2, 0x55, 0x00,
0x6f, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06,
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0x6a, 0x01, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xcd, 0x53, 0x1f, 0x52, 0x24, 0x7f, 0x1d,
0x07, 0xb3, 0x82, 0x0f, 0xf4, 0x2b, 0x21, 0x00, 0xce, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2, 0x7c, 0xd2, 0x5b, 0x04, 0x03, 0x00,
0x02, 0x01, 0x00, 0x00, };
return blob;
}
#endif //DDSCXX_HAS_TYPE_DISCOVERY
} //namespace topic
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
namespace dds {
namespace topic {
template <>
struct topic_type_name<::unitree_hg::msg::dds_::HandState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::HandState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::HandState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_hg::msg::dds_::HandState_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_hg::msg::dds_::HandState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.motor_state().size());
if (!write(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!write(streamer, instance.motor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.press_sensor_state().size());
if (!write(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!write(streamer, instance.press_sensor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.system_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.device_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.error()[0], instance.error().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool write(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
str.set_mode(cdr_stream::stream_mode::write, as_key);
return write(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool read(T& streamer, ::unitree_hg::msg::dds_::HandState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.motor_state().size());
if (!read(streamer, se_1))
return false;
instance.motor_state().resize(se_1);
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!read(streamer, instance.motor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.press_sensor_state().size());
if (!read(streamer, se_1))
return false;
instance.press_sensor_state().resize(se_1);
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!read(streamer, instance.press_sensor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.system_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.device_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.error()[0], instance.error().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool read(S& str, ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
str.set_mode(cdr_stream::stream_mode::read, as_key);
return read(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool move(T& streamer, const ::unitree_hg::msg::dds_::HandState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.motor_state().size());
if (!move(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!move(streamer, instance.motor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = uint32_t(instance.press_sensor_state().size());
if (!move(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!move(streamer, instance.press_sensor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.system_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.device_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.error()[0], instance.error().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool move(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
str.set_mode(cdr_stream::stream_mode::move, as_key);
return move(str, instance, props.data());
}
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool max(T& streamer, const ::unitree_hg::msg::dds_::HandState_& instance, entity_properties_t *props) {
(void)instance;
if (!streamer.start_struct(*props))
return false;
auto prop = streamer.first_entity(props);
while (prop) {
switch (prop->m_id) {
case 0:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!max(streamer, instance.motor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, false))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!max(streamer, instance.press_sensor_state()[i_1], prop))
return false;
} //i_1
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.power_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.power_a()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.system_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.device_v()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.error()[0], instance.error().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.reserve()[0], instance.reserve().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
}
prop = streamer.next_entity(prop);
}
return streamer.finish_struct(*props);
}
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
bool max(S& str, const ::unitree_hg::msg::dds_::HandState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::msg::dds_::HandState_>();
str.set_mode(cdr_stream::stream_mode::max, as_key);
return max(str, instance, props.data());
}
} //namespace cdr
} //namespace core
} //namespace cyclonedds
} //namespace eclipse
} //namespace org
#endif // DDSCXX_UNITREE_IDL_HG_HANDSTATE__HPP
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