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351
unitree_SDK/include/unitree/idl/go2/AudioData_.hpp Normal file
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/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: AudioData_.idl
Source: AudioData_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_AUDIODATA__HPP
#define DDSCXX_UNITREE_IDL_GO2_AUDIODATA__HPP
#include <cstdint>
#include <vector>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class AudioData_
{
private:
uint64_t time_frame_ = 0;
std::vector<uint8_t> data_;
public:
AudioData_() = default;
explicit AudioData_(
uint64_t time_frame,
const std::vector<uint8_t>& data) :
time_frame_(time_frame),
data_(data) { }
uint64_t time_frame() const { return this->time_frame_; }
uint64_t& time_frame() { return this->time_frame_; }
void time_frame(uint64_t _val_) { this->time_frame_ = _val_; }
const std::vector<uint8_t>& data() const { return this->data_; }
std::vector<uint8_t>& data() { return this->data_; }
void data(const std::vector<uint8_t>& _val_) { this->data_ = _val_; }
void data(std::vector<uint8_t>&& _val_) { this->data_ = _val_; }
bool operator==(const AudioData_& _other) const
{
(void) _other;
return time_frame_ == _other.time_frame_ &&
data_ == _other.data_;
}
bool operator!=(const AudioData_& _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_go::msg::dds_::AudioData_>::getTypeName()
{
return "unitree_go::msg::dds_::AudioData_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::AudioData_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::AudioData_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_map_blob_sz() { return 270; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_map_blob() {
static const uint8_t blob[] = {
0x50, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xbd, 0x63, 0xa8, 0xda, 0x34, 0x7d,
0x95, 0xbc, 0x6d, 0xad, 0xc9, 0xa2, 0xe8, 0x00, 0x38, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x2d, 0x24, 0x8b, 0x17, 0x00,
0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02,
0x8d, 0x77, 0x7f, 0x38, 0x8f, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x53, 0x16, 0x41,
0x76, 0x22, 0xff, 0x70, 0xd8, 0x4b, 0x56, 0xaf, 0x39, 0x1a, 0x93, 0x00, 0x77, 0x00, 0x00, 0x00,
0xf2, 0x51, 0x01, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a,
0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x41, 0x75, 0x64, 0x69, 0x6f, 0x44, 0x61, 0x74, 0x61,
0x5f, 0x00, 0x00, 0x00, 0x3f, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x74, 0x69, 0x6d, 0x65,
0x5f, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x05, 0x00, 0x00, 0x00,
0x64, 0x61, 0x74, 0x61, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0xf2, 0x53, 0x16, 0x41, 0x76, 0x22, 0xff, 0x70, 0xd8, 0x4b, 0x56, 0xaf, 0x39, 0x1a, 0x93, 0xf1,
0xb3, 0xbd, 0x63, 0xa8, 0xda, 0x34, 0x7d, 0x95, 0xbc, 0x6d, 0xad, 0xc9, 0xa2, 0xe8, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::AudioData_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xbd, 0x63, 0xa8, 0xda, 0x34, 0x7d, 0x95, 0xbc, 0x6d, 0xad,
0xc9, 0xa2, 0xe8, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x53, 0x16, 0x41, 0x76, 0x22, 0xff, 0x70, 0xd8, 0x4b, 0x56, 0xaf,
0x39, 0x1a, 0x93, 0x00, 0x7b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::AudioData_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::AudioData_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::AudioData_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::AudioData_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::AudioData_& 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 (!write(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.data()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::AudioData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>();
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_go::msg::dds_::AudioData_& 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 (!read(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!read(streamer, se_1))
return false;
instance.data().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.data()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::AudioData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>();
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_go::msg::dds_::AudioData_& 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 (!move(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
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_go::msg::dds_::AudioData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>();
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_go::msg::dds_::AudioData_& 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 (!max(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
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_go::msg::dds_::AudioData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::AudioData_>();
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_GO2_AUDIODATA__HPP

321
unitree_SDK/include/unitree/idl/go2/BmsCmd_.hpp Normal file
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@@ -0,0 +1,321 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: BmsCmd_.idl
Source: BmsCmd_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_BMSCMD__HPP
#define DDSCXX_UNITREE_IDL_GO2_BMSCMD__HPP
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class BmsCmd_
{
private:
uint8_t off_ = 0;
std::array<uint8_t, 3> reserve_ = { };
public:
BmsCmd_() = default;
explicit BmsCmd_(
uint8_t off,
const std::array<uint8_t, 3>& reserve) :
off_(off),
reserve_(reserve) { }
uint8_t off() const { return this->off_; }
uint8_t& off() { return this->off_; }
void off(uint8_t _val_) { this->off_ = _val_; }
const std::array<uint8_t, 3>& reserve() const { return this->reserve_; }
std::array<uint8_t, 3>& reserve() { return this->reserve_; }
void reserve(const std::array<uint8_t, 3>& _val_) { this->reserve_ = _val_; }
void reserve(std::array<uint8_t, 3>&& _val_) { this->reserve_ = _val_; }
bool operator==(const BmsCmd_& _other) const
{
(void) _other;
return off_ == _other.off_ &&
reserve_ == _other.reserve_;
}
bool operator!=(const BmsCmd_& _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_go::msg::dds_::BmsCmd_>::getTypeName()
{
return "unitree_go::msg::dds_::BmsCmd_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_map_blob_sz() { return 278; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_map_blob() {
static const uint8_t blob[] = {
0x56, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0,
0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00, 0x3e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x32, 0x62, 0xd4, 0x8d, 0x00,
0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x8e, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b,
0x34, 0x22, 0x33, 0x00, 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f,
0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42,
0x6d, 0x73, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00,
0x6f, 0x66, 0x66, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x00, 0x00,
0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a,
0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e,
0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51,
0xed, 0x4a, 0x23, 0x00, 0x42, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b,
0x34, 0x22, 0x33, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::BmsCmd_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::BmsCmd_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::BmsCmd_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::BmsCmd_& 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 (!write(streamer, instance.off()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
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_go::msg::dds_::BmsCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
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_go::msg::dds_::BmsCmd_& 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 (!read(streamer, instance.off()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
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_go::msg::dds_::BmsCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
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_go::msg::dds_::BmsCmd_& 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 (!move(streamer, instance.off()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
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_go::msg::dds_::BmsCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
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_go::msg::dds_::BmsCmd_& 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 (!max(streamer, instance.off()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
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_go::msg::dds_::BmsCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsCmd_>();
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_GO2_BMSCMD__HPP

651
unitree_SDK/include/unitree/idl/go2/BmsState_.hpp Normal file
View File

@@ -0,0 +1,651 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: BmsState_.idl
Source: BmsState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_BMSSTATE__HPP
#define DDSCXX_UNITREE_IDL_GO2_BMSSTATE__HPP
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class BmsState_
{
private:
uint8_t version_high_ = 0;
uint8_t version_low_ = 0;
uint8_t status_ = 0;
uint8_t soc_ = 0;
int32_t current_ = 0;
uint16_t cycle_ = 0;
std::array<uint8_t, 2> bq_ntc_ = { };
std::array<uint8_t, 2> mcu_ntc_ = { };
std::array<uint16_t, 15> cell_vol_ = { };
public:
BmsState_() = default;
explicit BmsState_(
uint8_t version_high,
uint8_t version_low,
uint8_t status,
uint8_t soc,
int32_t current,
uint16_t cycle,
const std::array<uint8_t, 2>& bq_ntc,
const std::array<uint8_t, 2>& mcu_ntc,
const std::array<uint16_t, 15>& cell_vol) :
version_high_(version_high),
version_low_(version_low),
status_(status),
soc_(soc),
current_(current),
cycle_(cycle),
bq_ntc_(bq_ntc),
mcu_ntc_(mcu_ntc),
cell_vol_(cell_vol) { }
uint8_t version_high() const { return this->version_high_; }
uint8_t& version_high() { return this->version_high_; }
void version_high(uint8_t _val_) { this->version_high_ = _val_; }
uint8_t version_low() const { return this->version_low_; }
uint8_t& version_low() { return this->version_low_; }
void version_low(uint8_t _val_) { this->version_low_ = _val_; }
uint8_t status() const { return this->status_; }
uint8_t& status() { return this->status_; }
void status(uint8_t _val_) { this->status_ = _val_; }
uint8_t soc() const { return this->soc_; }
uint8_t& soc() { return this->soc_; }
void soc(uint8_t _val_) { this->soc_ = _val_; }
int32_t current() const { return this->current_; }
int32_t& current() { return this->current_; }
void current(int32_t _val_) { this->current_ = _val_; }
uint16_t cycle() const { return this->cycle_; }
uint16_t& cycle() { return this->cycle_; }
void cycle(uint16_t _val_) { this->cycle_ = _val_; }
const std::array<uint8_t, 2>& bq_ntc() const { return this->bq_ntc_; }
std::array<uint8_t, 2>& bq_ntc() { return this->bq_ntc_; }
void bq_ntc(const std::array<uint8_t, 2>& _val_) { this->bq_ntc_ = _val_; }
void bq_ntc(std::array<uint8_t, 2>&& _val_) { this->bq_ntc_ = _val_; }
const std::array<uint8_t, 2>& mcu_ntc() const { return this->mcu_ntc_; }
std::array<uint8_t, 2>& mcu_ntc() { return this->mcu_ntc_; }
void mcu_ntc(const std::array<uint8_t, 2>& _val_) { this->mcu_ntc_ = _val_; }
void mcu_ntc(std::array<uint8_t, 2>&& _val_) { this->mcu_ntc_ = _val_; }
const std::array<uint16_t, 15>& cell_vol() const { return this->cell_vol_; }
std::array<uint16_t, 15>& cell_vol() { return this->cell_vol_; }
void cell_vol(const std::array<uint16_t, 15>& _val_) { this->cell_vol_ = _val_; }
void cell_vol(std::array<uint16_t, 15>&& _val_) { this->cell_vol_ = _val_; }
bool operator==(const BmsState_& _other) const
{
(void) _other;
return version_high_ == _other.version_high_ &&
version_low_ == _other.version_low_ &&
status_ == _other.status_ &&
soc_ == _other.soc_ &&
current_ == _other.current_ &&
cycle_ == _other.cycle_ &&
bq_ntc_ == _other.bq_ntc_ &&
mcu_ntc_ == _other.mcu_ntc_ &&
cell_vol_ == _other.cell_vol_;
}
bool operator!=(const BmsState_& _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_go::msg::dds_::BmsState_>::getTypeName()
{
return "unitree_go::msg::dds_::BmsState_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::BmsState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsState_>::type_map_blob_sz() { return 642; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::BmsState_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsState_>::type_map_blob() {
static const uint8_t blob[] = {
0xde, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b,
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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x00, 0x06, 0x00, 0x00, 0x00, 0x63, 0x79, 0x63, 0x6c,
0x65, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
0x62, 0x71, 0x5f, 0x6e, 0x74, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x02, 0x02, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x6d, 0x63, 0x75, 0x5f, 0x6e, 0x74, 0x63, 0x00,
0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0f, 0x06, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00,
0x63, 0x65, 0x6c, 0x6c, 0x5f, 0x76, 0x6f, 0x6c, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0x2e, 0xd8, 0x57, 0xec, 0xb6, 0xb3, 0x05, 0x79, 0x80, 0x8c, 0x15,
0xfd, 0x14, 0x3d, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b, 0xc2, 0xe0, 0x37, 0x0c, 0xec,
0x4c, 0xbb, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::BmsState_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xe1, 0x18, 0xaf, 0x07, 0x0b, 0xa2, 0x0b, 0xc2, 0xe0, 0x37, 0x0c,
0xec, 0x4c, 0xbb, 0x00, 0xca, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x2e, 0xd8, 0x57, 0xec, 0xb6, 0xb3, 0x05, 0x79, 0x80, 0x8c, 0x15,
0xfd, 0x14, 0x3d, 0x00, 0x5f, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::BmsState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::BmsState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::BmsState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::BmsState_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::BmsState_& 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 (!write(streamer, instance.version_high()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.version_low()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.status()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.soc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.current()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.cycle()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.bq_ntc()[0], instance.bq_ntc().size()))
return false;
if (!streamer.finish_consecutive())
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.mcu_ntc()[0], instance.mcu_ntc().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.cell_vol()[0], instance.cell_vol().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_go::msg::dds_::BmsState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>();
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_go::msg::dds_::BmsState_& 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 (!read(streamer, instance.version_high()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.version_low()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.status()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.soc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.current()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.cycle()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.bq_ntc()[0], instance.bq_ntc().size()))
return false;
if (!streamer.finish_consecutive())
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.mcu_ntc()[0], instance.mcu_ntc().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.cell_vol()[0], instance.cell_vol().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_go::msg::dds_::BmsState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>();
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_go::msg::dds_::BmsState_& 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 (!move(streamer, instance.version_high()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.version_low()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.status()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.soc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.current()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.cycle()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.bq_ntc()[0], instance.bq_ntc().size()))
return false;
if (!streamer.finish_consecutive())
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.mcu_ntc()[0], instance.mcu_ntc().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.cell_vol()[0], instance.cell_vol().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_go::msg::dds_::BmsState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>();
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_go::msg::dds_::BmsState_& 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 (!max(streamer, instance.version_high()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.version_low()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.status()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.soc()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.current()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.cycle()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.bq_ntc()[0], instance.bq_ntc().size()))
return false;
if (!streamer.finish_consecutive())
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.mcu_ntc()[0], instance.mcu_ntc().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.cell_vol()[0], instance.cell_vol().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_go::msg::dds_::BmsState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::BmsState_>();
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_GO2_BMSSTATE__HPP

309
unitree_SDK/include/unitree/idl/go2/ConfigChangeStatus_.hpp Normal file
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@@ -0,0 +1,309 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: ConfigChangeStatus_.idl
Source: ConfigChangeStatus_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_CONFIGCHANGESTATUS__HPP
#define DDSCXX_UNITREE_IDL_GO2_CONFIGCHANGESTATUS__HPP
#include <string>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class ConfigChangeStatus_
{
private:
std::string name_;
std::string content_;
public:
ConfigChangeStatus_() = default;
explicit ConfigChangeStatus_(
const std::string& name,
const std::string& content) :
name_(name),
content_(content) { }
const std::string& name() const { return this->name_; }
std::string& name() { return this->name_; }
void name(const std::string& _val_) { this->name_ = _val_; }
void name(std::string&& _val_) { this->name_ = _val_; }
const std::string& content() const { return this->content_; }
std::string& content() { return this->content_; }
void content(const std::string& _val_) { this->content_ = _val_; }
void content(std::string&& _val_) { this->content_ = _val_; }
bool operator==(const ConfigChangeStatus_& _other) const
{
(void) _other;
return name_ == _other.name_ &&
content_ == _other.content_;
}
bool operator!=(const ConfigChangeStatus_& _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_go::msg::dds_::ConfigChangeStatus_>::getTypeName()
{
return "unitree_go::msg::dds_::ConfigChangeStatus_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_map_blob_sz() { return 266; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_map_blob() {
static const uint8_t blob[] = {
0x4c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xab, 0x72, 0x41, 0x14, 0x34, 0x88,
0x06, 0xaa, 0x92, 0xd1, 0x55, 0xf0, 0xe9, 0x00, 0x34, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xb0, 0x68, 0x93, 0x1c,
0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x9a, 0x03, 0x64, 0xb9,
0x8e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xf8, 0x3d, 0x36, 0xf2, 0x55, 0x84,
0x27, 0x72, 0xfc, 0x68, 0x2f, 0x66, 0xf5, 0x00, 0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x33, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x43, 0x68, 0x61, 0x6e, 0x67, 0x65, 0x53,
0x74, 0x61, 0x74, 0x75, 0x73, 0x5f, 0x00, 0x00, 0x36, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00,
0x6e, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x70, 0x00, 0x08, 0x00, 0x00, 0x00, 0x63, 0x6f, 0x6e, 0x74, 0x65, 0x6e, 0x74, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xf8, 0x3d,
0x36, 0xf2, 0x55, 0x84, 0x27, 0x72, 0xfc, 0x68, 0x2f, 0x66, 0xf5, 0xf1, 0x8b, 0xab, 0x72, 0x41,
0x14, 0x34, 0x88, 0x06, 0xaa, 0x92, 0xd1, 0x55, 0xf0, 0xe9, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xab, 0x72, 0x41, 0x14, 0x34, 0x88, 0x06, 0xaa, 0x92, 0xd1,
0x55, 0xf0, 0xe9, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xb5, 0xf8, 0x3d, 0x36, 0xf2, 0x55, 0x84, 0x27, 0x72, 0xfc, 0x68,
0x2f, 0x66, 0xf5, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::ConfigChangeStatus_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::ConfigChangeStatus_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::ConfigChangeStatus_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::ConfigChangeStatus_& 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 (!write_string(streamer, instance.name(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write_string(streamer, instance.content(), 0))
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_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>();
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_go::msg::dds_::ConfigChangeStatus_& 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 (!read_string(streamer, instance.name(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read_string(streamer, instance.content(), 0))
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_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>();
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_go::msg::dds_::ConfigChangeStatus_& 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 (!move_string(streamer, instance.name(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move_string(streamer, instance.content(), 0))
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_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>();
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_go::msg::dds_::ConfigChangeStatus_& 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 (!max_string(streamer, instance.name(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max_string(streamer, instance.content(), 0))
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_go::msg::dds_::ConfigChangeStatus_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::ConfigChangeStatus_>();
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_GO2_CONFIGCHANGESTATUS__HPP

301
unitree_SDK/include/unitree/idl/go2/Error_.hpp Normal file
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@@ -0,0 +1,301 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: Error_.idl
Source: Error_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_ERROR__HPP
#define DDSCXX_UNITREE_IDL_GO2_ERROR__HPP
#include <cstdint>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class Error_
{
private:
uint32_t source_ = 0;
uint32_t state_ = 0;
public:
Error_() = default;
explicit Error_(
uint32_t source,
uint32_t state) :
source_(source),
state_(state) { }
uint32_t source() const { return this->source_; }
uint32_t& source() { return this->source_; }
void source(uint32_t _val_) { this->source_ = _val_; }
uint32_t state() const { return this->state_; }
uint32_t& state() { return this->state_; }
void state(uint32_t _val_) { this->state_ = _val_; }
bool operator==(const Error_& _other) const
{
(void) _other;
return source_ == _other.source_ &&
state_ == _other.state_;
}
bool operator!=(const Error_& _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_go::msg::dds_::Error_>::getTypeName()
{
return "unitree_go::msg::dds_::Error_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Error_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Error_>::type_map_blob_sz() { return 254; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Error_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Error_>::type_map_blob() {
static const uint8_t blob[] = {
0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x79, 0x56, 0x84, 0x80, 0x73, 0x64,
0x1f, 0xee, 0x3b, 0xc7, 0x0e, 0xd6, 0x56, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x36, 0xcd, 0x38, 0xf4, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x9e, 0xd3, 0x9e, 0x2e, 0x00,
0x84, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x8f, 0x76, 0x98, 0x54, 0xc5, 0x14, 0x4a,
0x4b, 0x4c, 0xbf, 0xbe, 0x7d, 0xd9, 0x1f, 0x00, 0x6c, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x26, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x45, 0x72, 0x72, 0x6f, 0x72, 0x5f, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00,
0x07, 0x00, 0x00, 0x00, 0x73, 0x6f, 0x75, 0x72, 0x63, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x06, 0x00, 0x00, 0x00,
0x73, 0x74, 0x61, 0x74, 0x65, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0xf2, 0x8f, 0x76, 0x98, 0x54, 0xc5, 0x14, 0x4a, 0x4b, 0x4c, 0xbf, 0xbe, 0x7d, 0xd9, 0x1f, 0xf1,
0x76, 0x79, 0x56, 0x84, 0x80, 0x73, 0x64, 0x1f, 0xee, 0x3b, 0xc7, 0x0e, 0xd6, 0x56, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Error_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x76, 0x79, 0x56, 0x84, 0x80, 0x73, 0x64, 0x1f, 0xee, 0x3b, 0xc7,
0x0e, 0xd6, 0x56, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x8f, 0x76, 0x98, 0x54, 0xc5, 0x14, 0x4a, 0x4b, 0x4c, 0xbf, 0xbe,
0x7d, 0xd9, 0x1f, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::Error_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Error_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Error_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::Error_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::Error_& 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 (!write(streamer, instance.source()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.state()))
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_go::msg::dds_::Error_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Error_>();
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_go::msg::dds_::Error_& 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 (!read(streamer, instance.source()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.state()))
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_go::msg::dds_::Error_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Error_>();
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_go::msg::dds_::Error_& 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 (!move(streamer, instance.source()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.state()))
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_go::msg::dds_::Error_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Error_>();
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_go::msg::dds_::Error_& 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 (!max(streamer, instance.source()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.state()))
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_go::msg::dds_::Error_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Error_>();
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_GO2_ERROR__HPP

523
unitree_SDK/include/unitree/idl/go2/Go2FrontVideoData_.hpp Normal file
View File

@@ -0,0 +1,523 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: Go2FrontVideoData_.idl
Source: Go2FrontVideoData_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_GO2FRONTVIDEODATA__HPP
#define DDSCXX_UNITREE_IDL_GO2_GO2FRONTVIDEODATA__HPP
#include <cstdint>
#include <vector>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class Go2FrontVideoData_
{
private:
uint64_t time_frame_ = 0;
std::vector<uint8_t> video720p_;
std::vector<uint8_t> video360p_;
std::vector<uint8_t> video180p_;
public:
Go2FrontVideoData_() = default;
explicit Go2FrontVideoData_(
uint64_t time_frame,
const std::vector<uint8_t>& video720p,
const std::vector<uint8_t>& video360p,
const std::vector<uint8_t>& video180p) :
time_frame_(time_frame),
video720p_(video720p),
video360p_(video360p),
video180p_(video180p) { }
uint64_t time_frame() const { return this->time_frame_; }
uint64_t& time_frame() { return this->time_frame_; }
void time_frame(uint64_t _val_) { this->time_frame_ = _val_; }
const std::vector<uint8_t>& video720p() const { return this->video720p_; }
std::vector<uint8_t>& video720p() { return this->video720p_; }
void video720p(const std::vector<uint8_t>& _val_) { this->video720p_ = _val_; }
void video720p(std::vector<uint8_t>&& _val_) { this->video720p_ = _val_; }
const std::vector<uint8_t>& video360p() const { return this->video360p_; }
std::vector<uint8_t>& video360p() { return this->video360p_; }
void video360p(const std::vector<uint8_t>& _val_) { this->video360p_ = _val_; }
void video360p(std::vector<uint8_t>&& _val_) { this->video360p_ = _val_; }
const std::vector<uint8_t>& video180p() const { return this->video180p_; }
std::vector<uint8_t>& video180p() { return this->video180p_; }
void video180p(const std::vector<uint8_t>& _val_) { this->video180p_ = _val_; }
void video180p(std::vector<uint8_t>&& _val_) { this->video180p_ = _val_; }
bool operator==(const Go2FrontVideoData_& _other) const
{
(void) _other;
return time_frame_ == _other.time_frame_ &&
video720p_ == _other.video720p_ &&
video360p_ == _other.video360p_ &&
video180p_ == _other.video180p_;
}
bool operator!=(const Go2FrontVideoData_& _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_go::msg::dds_::Go2FrontVideoData_>::getTypeName()
{
return "unitree_go::msg::dds_::Go2FrontVideoData_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_map_blob_sz() { return 386; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_map_blob() {
static const uint8_t blob[] = {
0x78, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x75, 0x67, 0x61, 0x59, 0x75, 0x39, 0xc1,
0x45, 0x05, 0x1d, 0x51, 0xbe, 0x71, 0xb1, 0x00, 0x60, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x2d, 0x24, 0x8b, 0x17, 0x00,
0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02,
0xd5, 0x57, 0x60, 0x01, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3,
0x01, 0x00, 0x00, 0x02, 0x1d, 0x38, 0x7d, 0x67, 0x10, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x04, 0xb8, 0xc7, 0x48, 0xdc, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0xc8, 0x74, 0x27, 0xb8, 0x30, 0xbd, 0x3d, 0x37, 0xbe, 0x7b, 0xec,
0x40, 0x49, 0xe1, 0x00, 0xc4, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x32, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f,
0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x47,
0x6f, 0x32, 0x46, 0x72, 0x6f, 0x6e, 0x74, 0x56, 0x69, 0x64, 0x65, 0x6f, 0x44, 0x61, 0x74, 0x61,
0x5f, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x74, 0x69, 0x6d, 0x65,
0x5f, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x0a, 0x00, 0x00, 0x00,
0x76, 0x69, 0x64, 0x65, 0x6f, 0x37, 0x32, 0x30, 0x70, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x0a, 0x00, 0x00, 0x00,
0x76, 0x69, 0x64, 0x65, 0x6f, 0x33, 0x36, 0x30, 0x70, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x0a, 0x00, 0x00, 0x00,
0x76, 0x69, 0x64, 0x65, 0x6f, 0x31, 0x38, 0x30, 0x70, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0xc8, 0x74, 0x27, 0xb8, 0x30, 0xbd, 0x3d, 0x37, 0xbe, 0x7b, 0xec,
0x40, 0x49, 0xe1, 0xf1, 0x75, 0x67, 0x61, 0x59, 0x75, 0x39, 0xc1, 0x45, 0x05, 0x1d, 0x51, 0xbe,
0x71, 0xb1, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x75, 0x67, 0x61, 0x59, 0x75, 0x39, 0xc1, 0x45, 0x05, 0x1d, 0x51,
0xbe, 0x71, 0xb1, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xc8, 0x74, 0x27, 0xb8, 0x30, 0xbd, 0x3d, 0x37, 0xbe, 0x7b, 0xec,
0x40, 0x49, 0xe1, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::Go2FrontVideoData_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Go2FrontVideoData_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Go2FrontVideoData_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::Go2FrontVideoData_& 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 (!write(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video720p().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.video720p()[0], se_1))
return false;
} //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 (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video360p().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.video360p()[0], se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video180p().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.video180p()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>();
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_go::msg::dds_::Go2FrontVideoData_& 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 (!read(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video720p().size());
if (!read(streamer, se_1))
return false;
instance.video720p().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.video720p()[0], se_1))
return false;
} //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 (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video360p().size());
if (!read(streamer, se_1))
return false;
instance.video360p().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.video360p()[0], se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video180p().size());
if (!read(streamer, se_1))
return false;
instance.video180p().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.video180p()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>();
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_go::msg::dds_::Go2FrontVideoData_& 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 (!move(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video720p().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //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 (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video360p().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.video180p().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
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_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>();
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_go::msg::dds_::Go2FrontVideoData_& 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 (!max(streamer, instance.time_frame()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //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 (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
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_go::msg::dds_::Go2FrontVideoData_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Go2FrontVideoData_>();
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_GO2_GO2FRONTVIDEODATA__HPP

581
unitree_SDK/include/unitree/idl/go2/HeightMap_.hpp Normal file
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@@ -0,0 +1,581 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: HeightMap_.idl
Source: HeightMap_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_HEIGHTMAP__HPP
#define DDSCXX_UNITREE_IDL_GO2_HEIGHTMAP__HPP
#include <cstdint>
#include <array>
#include <vector>
#include <string>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class HeightMap_
{
private:
double stamp_ = 0.0;
std::string frame_id_;
float resolution_ = 0.0f;
uint32_t width_ = 0;
uint32_t height_ = 0;
std::array<float, 2> origin_ = { };
std::vector<float> data_;
public:
HeightMap_() = default;
explicit HeightMap_(
double stamp,
const std::string& frame_id,
float resolution,
uint32_t width,
uint32_t height,
const std::array<float, 2>& origin,
const std::vector<float>& data) :
stamp_(stamp),
frame_id_(frame_id),
resolution_(resolution),
width_(width),
height_(height),
origin_(origin),
data_(data) { }
double stamp() const { return this->stamp_; }
double& stamp() { return this->stamp_; }
void stamp(double _val_) { this->stamp_ = _val_; }
const std::string& frame_id() const { return this->frame_id_; }
std::string& frame_id() { return this->frame_id_; }
void frame_id(const std::string& _val_) { this->frame_id_ = _val_; }
void frame_id(std::string&& _val_) { this->frame_id_ = _val_; }
float resolution() const { return this->resolution_; }
float& resolution() { return this->resolution_; }
void resolution(float _val_) { this->resolution_ = _val_; }
uint32_t width() const { return this->width_; }
uint32_t& width() { return this->width_; }
void width(uint32_t _val_) { this->width_ = _val_; }
uint32_t height() const { return this->height_; }
uint32_t& height() { return this->height_; }
void height(uint32_t _val_) { this->height_ = _val_; }
const std::array<float, 2>& origin() const { return this->origin_; }
std::array<float, 2>& origin() { return this->origin_; }
void origin(const std::array<float, 2>& _val_) { this->origin_ = _val_; }
void origin(std::array<float, 2>&& _val_) { this->origin_ = _val_; }
const std::vector<float>& data() const { return this->data_; }
std::vector<float>& data() { return this->data_; }
void data(const std::vector<float>& _val_) { this->data_ = _val_; }
void data(std::vector<float>&& _val_) { this->data_ = _val_; }
bool operator==(const HeightMap_& _other) const
{
(void) _other;
return stamp_ == _other.stamp_ &&
frame_id_ == _other.frame_id_ &&
resolution_ == _other.resolution_ &&
width_ == _other.width_ &&
height_ == _other.height_ &&
origin_ == _other.origin_ &&
data_ == _other.data_;
}
bool operator!=(const HeightMap_& _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_go::msg::dds_::HeightMap_>::getTypeName()
{
return "unitree_go::msg::dds_::HeightMap_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::HeightMap_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::HeightMap_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_map_blob_sz() { return 506; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_map_blob() {
static const uint8_t blob[] = {
0xac, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x1f, 0x43, 0x34, 0x5b, 0x5b, 0x83, 0xd9,
0xee, 0xf3, 0x84, 0x90, 0x47, 0xb5, 0x97, 0x00, 0x94, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x84, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x96, 0xb8, 0xc7, 0x8d, 0x00,
0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x4b, 0xb3, 0x9c, 0x5c,
0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xb7, 0xe1, 0x64, 0xb3, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xea, 0xae, 0x26, 0xa6, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xb4, 0x35, 0xe2, 0x27, 0x00,
0x16, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x02, 0x09, 0x7c, 0x49, 0xb1, 0x53, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x09, 0x8d, 0x77, 0x7f, 0x38,
0x1f, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x23, 0x34, 0xab, 0xa3, 0x56, 0x73, 0x67,
0xe5, 0x4e, 0xb6, 0x6f, 0x87, 0xb9, 0x09, 0x00, 0x07, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x48, 0x65, 0x69, 0x67, 0x68, 0x74, 0x4d, 0x61, 0x70, 0x5f, 0x00, 0x00, 0x00,
0xcf, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x0a, 0x00, 0x06, 0x00, 0x00, 0x00, 0x73, 0x74, 0x61, 0x6d, 0x70, 0x00, 0x00, 0x00,
0x17, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x09, 0x00, 0x00, 0x00,
0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x19, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x6f,
0x6c, 0x75, 0x74, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x06, 0x00, 0x00, 0x00, 0x77, 0x69, 0x64, 0x74,
0x68, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00,
0x07, 0x00, 0x00, 0x00, 0x68, 0x65, 0x69, 0x67, 0x68, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x21, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x02, 0x09, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x6f, 0x72, 0x69, 0x67,
0x69, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x09, 0x05, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x23, 0x34, 0xab,
0xa3, 0x56, 0x73, 0x67, 0xe5, 0x4e, 0xb6, 0x6f, 0x87, 0xb9, 0x09, 0xf1, 0x1f, 0x43, 0x34, 0x5b,
0x5b, 0x83, 0xd9, 0xee, 0xf3, 0x84, 0x90, 0x47, 0xb5, 0x97, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::HeightMap_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x1f, 0x43, 0x34, 0x5b, 0x5b, 0x83, 0xd9, 0xee, 0xf3, 0x84, 0x90,
0x47, 0xb5, 0x97, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x23, 0x34, 0xab, 0xa3, 0x56, 0x73, 0x67, 0xe5, 0x4e, 0xb6, 0x6f,
0x87, 0xb9, 0x09, 0x00, 0x0b, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::HeightMap_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::HeightMap_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::HeightMap_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::HeightMap_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::HeightMap_& 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 (!write(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.width()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.data()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::HeightMap_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>();
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_go::msg::dds_::HeightMap_& 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 (!read(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.width()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!read(streamer, se_1))
return false;
instance.data().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.data()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::HeightMap_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>();
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_go::msg::dds_::HeightMap_& 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 (!move(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.width()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, float(), se_1))
return false;
} //end sequence 1
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_go::msg::dds_::HeightMap_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>();
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_go::msg::dds_::HeightMap_& 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 (!max(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.width()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, float(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
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_go::msg::dds_::HeightMap_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::HeightMap_>();
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_GO2_HEIGHTMAP__HPP

503
unitree_SDK/include/unitree/idl/go2/IMUState_.hpp Normal file
View File

@@ -0,0 +1,503 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: IMUState_.idl
Source: IMUState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_IMUSTATE__HPP
#define DDSCXX_UNITREE_IDL_GO2_IMUSTATE__HPP
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class IMUState_
{
private:
std::array<float, 4> quaternion_ = { };
std::array<float, 3> gyroscope_ = { };
std::array<float, 3> accelerometer_ = { };
std::array<float, 3> rpy_ = { };
uint8_t temperature_ = 0;
public:
IMUState_() = default;
explicit IMUState_(
const std::array<float, 4>& quaternion,
const std::array<float, 3>& gyroscope,
const std::array<float, 3>& accelerometer,
const std::array<float, 3>& rpy,
uint8_t temperature) :
quaternion_(quaternion),
gyroscope_(gyroscope),
accelerometer_(accelerometer),
rpy_(rpy),
temperature_(temperature) { }
const std::array<float, 4>& quaternion() const { return this->quaternion_; }
std::array<float, 4>& quaternion() { return this->quaternion_; }
void quaternion(const std::array<float, 4>& _val_) { this->quaternion_ = _val_; }
void quaternion(std::array<float, 4>&& _val_) { this->quaternion_ = _val_; }
const std::array<float, 3>& gyroscope() const { return this->gyroscope_; }
std::array<float, 3>& gyroscope() { return this->gyroscope_; }
void gyroscope(const std::array<float, 3>& _val_) { this->gyroscope_ = _val_; }
void gyroscope(std::array<float, 3>&& _val_) { this->gyroscope_ = _val_; }
const std::array<float, 3>& accelerometer() const { return this->accelerometer_; }
std::array<float, 3>& accelerometer() { return this->accelerometer_; }
void accelerometer(const std::array<float, 3>& _val_) { this->accelerometer_ = _val_; }
void accelerometer(std::array<float, 3>&& _val_) { this->accelerometer_ = _val_; }
const std::array<float, 3>& rpy() const { return this->rpy_; }
std::array<float, 3>& rpy() { return this->rpy_; }
void rpy(const std::array<float, 3>& _val_) { this->rpy_ = _val_; }
void rpy(std::array<float, 3>&& _val_) { this->rpy_ = _val_; }
uint8_t temperature() const { return this->temperature_; }
uint8_t& temperature() { return this->temperature_; }
void temperature(uint8_t _val_) { this->temperature_ = _val_; }
bool operator==(const IMUState_& _other) const
{
(void) _other;
return quaternion_ == _other.quaternion_ &&
gyroscope_ == _other.gyroscope_ &&
accelerometer_ == _other.accelerometer_ &&
rpy_ == _other.rpy_ &&
temperature_ == _other.temperature_;
}
bool operator!=(const IMUState_& _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_go::msg::dds_::IMUState_>::getTypeName()
{
return "unitree_go::msg::dds_::IMUState_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::IMUState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob_sz() { return 498; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob() {
static const uint8_t blob[] = {
0xab, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc,
0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x75, 0xb9, 0xaa, 0xa0, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x03, 0x09, 0x6b, 0x3b, 0x2d, 0x85, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x0e, 0x12,
0x75, 0x69, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0xb0, 0x7d, 0x92, 0xed, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xee, 0xf4, 0x38, 0xf7, 0x00,
0x16, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25,
0xd2, 0x26, 0x28, 0xb6, 0xb7, 0x64, 0xcc, 0x00, 0xfe, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
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0xc6, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x71, 0x75, 0x61, 0x74, 0x65, 0x72, 0x6e, 0x69, 0x6f, 0x6e, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00,
0x67, 0x79, 0x72, 0x6f, 0x73, 0x63, 0x6f, 0x70, 0x65, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x03, 0x09, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x61, 0x63, 0x63, 0x65, 0x6c, 0x65, 0x72, 0x6f,
0x6d, 0x65, 0x74, 0x65, 0x72, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00,
0x04, 0x00, 0x00, 0x00, 0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00,
0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70,
0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26, 0x28, 0xb6,
0xb7, 0x64, 0xcc, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8, 0x29,
0x31, 0x15, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8,
0x29, 0x31, 0x15, 0x00, 0x97, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26, 0x28, 0xb6,
0xb7, 0x64, 0xcc, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::IMUState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::IMUState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::IMUState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::IMUState_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::IMUState_& 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(true, true))
return false;
if (!write(streamer, instance.quaternion()[0], instance.quaternion().size()))
return false;
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(true, true))
return false;
if (!write(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.rpy()[0], instance.rpy().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.temperature()))
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_go::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
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_go::msg::dds_::IMUState_& 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(true, true))
return false;
if (!read(streamer, instance.quaternion()[0], instance.quaternion().size()))
return false;
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(true, true))
return false;
if (!read(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.rpy()[0], instance.rpy().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.temperature()))
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_go::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
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_go::msg::dds_::IMUState_& 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(true, true))
return false;
if (!move(streamer, instance.quaternion()[0], instance.quaternion().size()))
return false;
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(true, true))
return false;
if (!move(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.rpy()[0], instance.rpy().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.temperature()))
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_go::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
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_go::msg::dds_::IMUState_& 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(true, true))
return false;
if (!max(streamer, instance.quaternion()[0], instance.quaternion().size()))
return false;
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(true, true))
return false;
if (!max(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.rpy()[0], instance.rpy().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.temperature()))
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_go::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
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_GO2_IMUSTATE__HPP

363
unitree_SDK/include/unitree/idl/go2/InterfaceConfig_.hpp Normal file
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@@ -0,0 +1,363 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: InterfaceConfig_.idl
Source: InterfaceConfig_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_INTERFACECONFIG__HPP
#define DDSCXX_UNITREE_IDL_GO2_INTERFACECONFIG__HPP
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class InterfaceConfig_
{
private:
uint8_t mode_ = 0;
uint8_t value_ = 0;
std::array<uint8_t, 2> reserve_ = { };
public:
InterfaceConfig_() = default;
explicit InterfaceConfig_(
uint8_t mode,
uint8_t value,
const std::array<uint8_t, 2>& reserve) :
mode_(mode),
value_(value),
reserve_(reserve) { }
uint8_t mode() const { return this->mode_; }
uint8_t& mode() { return this->mode_; }
void mode(uint8_t _val_) { this->mode_ = _val_; }
uint8_t value() const { return this->value_; }
uint8_t& value() { return this->value_; }
void value(uint8_t _val_) { this->value_ = _val_; }
const std::array<uint8_t, 2>& reserve() const { return this->reserve_; }
std::array<uint8_t, 2>& reserve() { return this->reserve_; }
void reserve(const std::array<uint8_t, 2>& _val_) { this->reserve_ = _val_; }
void reserve(std::array<uint8_t, 2>&& _val_) { this->reserve_ = _val_; }
bool operator==(const InterfaceConfig_& _other) const
{
(void) _other;
return mode_ == _other.mode_ &&
value_ == _other.value_ &&
reserve_ == _other.reserve_;
}
bool operator!=(const InterfaceConfig_& _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_go::msg::dds_::InterfaceConfig_>::getTypeName()
{
return "unitree_go::msg::dds_::InterfaceConfig_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_map_blob_sz() { return 326; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_map_blob() {
static const uint8_t blob[] = {
0x66, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x4f, 0x25, 0x85, 0x7b, 0xb1, 0x9a, 0x7b,
0x3a, 0xaf, 0x05, 0x03, 0xdb, 0x8f, 0xa9, 0x00, 0x4e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x20, 0x63, 0xc1, 0x60, 0x00,
0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0xae, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0x11, 0x6e, 0x4e, 0x71, 0x6a, 0xb8, 0x9f, 0x44, 0x70, 0x5d, 0xb6,
0x2b, 0x7d, 0x87, 0x00, 0x96, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x30, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f,
0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x49,
0x6e, 0x74, 0x65, 0x72, 0x66, 0x61, 0x63, 0x65, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x5f, 0x00,
0x5a, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x06, 0x00, 0x00, 0x00,
0x76, 0x61, 0x6c, 0x75, 0x65, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x00, 0x00,
0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x11, 0x6e, 0x4e, 0x71, 0x6a, 0xb8, 0x9f,
0x44, 0x70, 0x5d, 0xb6, 0x2b, 0x7d, 0x87, 0xf1, 0x4f, 0x25, 0x85, 0x7b, 0xb1, 0x9a, 0x7b, 0x3a,
0xaf, 0x05, 0x03, 0xdb, 0x8f, 0xa9, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x4f, 0x25, 0x85, 0x7b, 0xb1, 0x9a, 0x7b, 0x3a, 0xaf, 0x05, 0x03,
0xdb, 0x8f, 0xa9, 0x00, 0x52, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x11, 0x6e, 0x4e, 0x71, 0x6a, 0xb8, 0x9f, 0x44, 0x70, 0x5d, 0xb6,
0x2b, 0x7d, 0x87, 0x00, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::InterfaceConfig_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::InterfaceConfig_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::InterfaceConfig_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::InterfaceConfig_& 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 (!write(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.value()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
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_go::msg::dds_::InterfaceConfig_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>();
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_go::msg::dds_::InterfaceConfig_& 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 (!read(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.value()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
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_go::msg::dds_::InterfaceConfig_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>();
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_go::msg::dds_::InterfaceConfig_& 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 (!move(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.value()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
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_go::msg::dds_::InterfaceConfig_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>();
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_go::msg::dds_::InterfaceConfig_& 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 (!max(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.value()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
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_go::msg::dds_::InterfaceConfig_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::InterfaceConfig_>();
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_GO2_INTERFACECONFIG__HPP

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unitree_SDK/include/unitree/idl/go2/LidarState_.hpp Normal file
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999
unitree_SDK/include/unitree/idl/go2/LowCmd_.hpp Normal file
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@@ -0,0 +1,999 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: LowCmd_.idl
Source: LowCmd_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
#define DDSCXX_UNITREE_IDL_GO2_LOWCMD__HPP
#include "unitree/idl/go2/BmsCmd_.hpp"
#include "unitree/idl/go2/MotorCmd_.hpp"
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class LowCmd_
{
private:
std::array<uint8_t, 2> head_ = { };
uint8_t level_flag_ = 0;
uint8_t frame_reserve_ = 0;
std::array<uint32_t, 2> sn_ = { };
std::array<uint32_t, 2> version_ = { };
uint16_t bandwidth_ = 0;
std::array<::unitree_go::msg::dds_::MotorCmd_, 20> motor_cmd_ = { };
::unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
std::array<uint8_t, 40> wireless_remote_ = { };
std::array<uint8_t, 12> led_ = { };
std::array<uint8_t, 2> fan_ = { };
uint8_t gpio_ = 0;
uint32_t reserve_ = 0;
uint32_t crc_ = 0;
public:
LowCmd_() = default;
explicit LowCmd_(
const std::array<uint8_t, 2>& head,
uint8_t level_flag,
uint8_t frame_reserve,
const std::array<uint32_t, 2>& sn,
const std::array<uint32_t, 2>& version,
uint16_t bandwidth,
const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd,
const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd,
const std::array<uint8_t, 40>& wireless_remote,
const std::array<uint8_t, 12>& led,
const std::array<uint8_t, 2>& fan,
uint8_t gpio,
uint32_t reserve,
uint32_t crc) :
head_(head),
level_flag_(level_flag),
frame_reserve_(frame_reserve),
sn_(sn),
version_(version),
bandwidth_(bandwidth),
motor_cmd_(motor_cmd),
bms_cmd_(bms_cmd),
wireless_remote_(wireless_remote),
led_(led),
fan_(fan),
gpio_(gpio),
reserve_(reserve),
crc_(crc) { }
const std::array<uint8_t, 2>& head() const { return this->head_; }
std::array<uint8_t, 2>& head() { return this->head_; }
void head(const std::array<uint8_t, 2>& _val_) { this->head_ = _val_; }
void head(std::array<uint8_t, 2>&& _val_) { this->head_ = _val_; }
uint8_t level_flag() const { return this->level_flag_; }
uint8_t& level_flag() { return this->level_flag_; }
void level_flag(uint8_t _val_) { this->level_flag_ = _val_; }
uint8_t frame_reserve() const { return this->frame_reserve_; }
uint8_t& frame_reserve() { return this->frame_reserve_; }
void frame_reserve(uint8_t _val_) { this->frame_reserve_ = _val_; }
const std::array<uint32_t, 2>& sn() const { return this->sn_; }
std::array<uint32_t, 2>& sn() { return this->sn_; }
void sn(const std::array<uint32_t, 2>& _val_) { this->sn_ = _val_; }
void sn(std::array<uint32_t, 2>&& _val_) { this->sn_ = _val_; }
const std::array<uint32_t, 2>& version() const { return this->version_; }
std::array<uint32_t, 2>& version() { return this->version_; }
void version(const std::array<uint32_t, 2>& _val_) { this->version_ = _val_; }
void version(std::array<uint32_t, 2>&& _val_) { this->version_ = _val_; }
uint16_t bandwidth() const { return this->bandwidth_; }
uint16_t& bandwidth() { return this->bandwidth_; }
void bandwidth(uint16_t _val_) { this->bandwidth_ = _val_; }
const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() const { return this->motor_cmd_; }
std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& motor_cmd() { return this->motor_cmd_; }
void motor_cmd(const std::array<::unitree_go::msg::dds_::MotorCmd_, 20>& _val_) { this->motor_cmd_ = _val_; }
void motor_cmd(std::array<::unitree_go::msg::dds_::MotorCmd_, 20>&& _val_) { this->motor_cmd_ = _val_; }
const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; }
::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; }
void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; }
void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; }
const std::array<uint8_t, 40>& wireless_remote() const { return this->wireless_remote_; }
std::array<uint8_t, 40>& wireless_remote() { return this->wireless_remote_; }
void wireless_remote(const std::array<uint8_t, 40>& _val_) { this->wireless_remote_ = _val_; }
void wireless_remote(std::array<uint8_t, 40>&& _val_) { this->wireless_remote_ = _val_; }
const std::array<uint8_t, 12>& led() const { return this->led_; }
std::array<uint8_t, 12>& led() { return this->led_; }
void led(const std::array<uint8_t, 12>& _val_) { this->led_ = _val_; }
void led(std::array<uint8_t, 12>&& _val_) { this->led_ = _val_; }
const std::array<uint8_t, 2>& fan() const { return this->fan_; }
std::array<uint8_t, 2>& fan() { return this->fan_; }
void fan(const std::array<uint8_t, 2>& _val_) { this->fan_ = _val_; }
void fan(std::array<uint8_t, 2>&& _val_) { this->fan_ = _val_; }
uint8_t gpio() const { return this->gpio_; }
uint8_t& gpio() { return this->gpio_; }
void gpio(uint8_t _val_) { this->gpio_ = _val_; }
uint32_t reserve() const { return this->reserve_; }
uint32_t& reserve() { return this->reserve_; }
void reserve(uint32_t _val_) { this->reserve_ = _val_; }
uint32_t crc() const { return this->crc_; }
uint32_t& crc() { return this->crc_; }
void crc(uint32_t _val_) { this->crc_ = _val_; }
bool operator==(const LowCmd_& _other) const
{
(void) _other;
return head_ == _other.head_ &&
level_flag_ == _other.level_flag_ &&
frame_reserve_ == _other.frame_reserve_ &&
sn_ == _other.sn_ &&
version_ == _other.version_ &&
bandwidth_ == _other.bandwidth_ &&
motor_cmd_ == _other.motor_cmd_ &&
bms_cmd_ == _other.bms_cmd_ &&
wireless_remote_ == _other.wireless_remote_ &&
led_ == _other.led_ &&
fan_ == _other.fan_ &&
gpio_ == _other.gpio_ &&
reserve_ == _other.reserve_ &&
crc_ == _other.crc_;
}
bool operator!=(const LowCmd_& _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_go::msg::dds_::LowCmd_>::getTypeName()
{
return "unitree_go::msg::dds_::LowCmd_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::LowCmd_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob_sz() { return 1710; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob_sz() { return 196; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_map_blob() {
static const uint8_t blob[] = {
0x72, 0x02, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37,
0xd6, 0x9f, 0x6e, 0xd6, 0x2a, 0x3f, 0x63, 0x00, 0x63, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x01, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00,
0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x96, 0xe8, 0x9a, 0x29, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xa2, 0x18, 0x71, 0x24, 0x00, 0x0b, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xf0, 0xd2, 0xa4, 0x1c, 0x00, 0x16, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x02, 0x07, 0xaf, 0xbe, 0x94, 0xcd, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x2a, 0xf7,
0x2f, 0x10, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x36,
0x67, 0x6c, 0x2b, 0x00, 0x24, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf1,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c,
0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x5b, 0xcf, 0x19, 0xa4, 0x19, 0x00, 0x00, 0x00,
0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52,
0xcf, 0x51, 0xed, 0x4a, 0x23, 0x11, 0x50, 0x97, 0xc7, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x28, 0x02, 0xa8, 0x2f, 0x18, 0xc9, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x02, 0x0b, 0x98,
0xf7, 0xbc, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x02, 0x50, 0xbd, 0x8c, 0x21, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x95, 0x58, 0x71, 0xc9, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xf5, 0xad, 0x59, 0xc5, 0xf1,
0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x00,
0x8e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x7e, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00, 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x9c, 0x3b,
0x62, 0x94, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a,
0x23, 0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x2e, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x32, 0x62, 0xd4, 0x8d, 0x00, 0x16, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x03, 0x02, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0xce, 0x03, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20, 0xa9, 0x05, 0x40, 0x00,
0x26, 0x02, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a,
0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4c, 0x6f, 0x77, 0x43, 0x6d,
0x64, 0x5f, 0x00, 0x00, 0xf2, 0x01, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x1f, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x02, 0x02, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x68, 0x65, 0x61, 0x64, 0x00, 0x00, 0x00, 0x00,
0x19, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0b, 0x00, 0x00, 0x00,
0x6c, 0x65, 0x76, 0x65, 0x6c, 0x5f, 0x66, 0x6c, 0x61, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x1c, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0e, 0x00, 0x00, 0x00,
0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00,
0x1d, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x73, 0x6e, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
0x76, 0x65, 0x72, 0x73, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00,
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x62, 0x61, 0x6e, 0x64,
0x77, 0x69, 0x64, 0x74, 0x68, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf2, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x14, 0xf2, 0x42, 0x1f,
0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x0a, 0x00, 0x00, 0x00,
0x6d, 0x6f, 0x74, 0x6f, 0x72, 0x5f, 0x63, 0x6d, 0x64, 0x00, 0x00, 0x00, 0x26, 0x00, 0x00, 0x00,
0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3,
0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x62, 0x6d, 0x73, 0x5f,
0x63, 0x6d, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2a, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x28, 0x02, 0x00, 0x00,
0x10, 0x00, 0x00, 0x00, 0x77, 0x69, 0x72, 0x65, 0x6c, 0x65, 0x73, 0x73, 0x5f, 0x72, 0x65, 0x6d,
0x6f, 0x74, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x02, 0x00, 0x00,
0x04, 0x00, 0x00, 0x00, 0x6c, 0x65, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00,
0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x02, 0x02, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x66, 0x61, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x13, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00,
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0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0xb6, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65,
0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x00, 0x00,
0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0xf2, 0x31,
0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x00, 0x00,
0x76, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x1f, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a,
0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x42, 0x6d, 0x73, 0x43, 0x6d,
0x64, 0x5f, 0x00, 0x00, 0x42, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x6f, 0x66, 0x66, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x02, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x5e, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
0xa9, 0x05, 0x40, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6, 0x2a,
0x3f, 0x63, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30,
0x3b, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff,
0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1,
0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::LowCmd_>::type_info_blob() {
static const uint8_t blob[] = {
0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x83, 0x28, 0x76, 0xce, 0xec, 0x97, 0x37, 0xd6, 0x9f, 0x6e, 0xd6,
0x2a, 0x3f, 0x63, 0x00, 0x67, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00,
0x42, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x52, 0xcc, 0x8e, 0xb0, 0xd4, 0x27, 0xd6, 0x92, 0xaa, 0x2b, 0x20,
0xa9, 0x05, 0x40, 0x00, 0x2a, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef,
0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a, 0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00,
0x7a, 0x00, 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_go::msg::dds_::LowCmd_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::LowCmd_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::LowCmd_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::LowCmd_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::LowCmd_& 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(true, true))
return false;
if (!write(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
if (!write(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.bms_cmd(), prop))
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.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.crc()))
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_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
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_go::msg::dds_::LowCmd_& 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(true, true))
return false;
if (!read(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (auto & a_1:instance.motor_cmd()) { //array depth 1
if (!read(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.bms_cmd(), prop))
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.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.crc()))
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_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
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_go::msg::dds_::LowCmd_& 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(true, true))
return false;
if (!move(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
if (!move(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.bms_cmd(), prop))
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.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.crc()))
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_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
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_go::msg::dds_::LowCmd_& 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(true, true))
return false;
if (!max(streamer, instance.head()[0], instance.head().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.level_flag()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.frame_reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.sn()[0], instance.sn().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.bandwidth()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.motor_cmd()) { //array depth 1
if (!max(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.bms_cmd(), prop))
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.wireless_remote()[0], instance.wireless_remote().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.led()[0], instance.led().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.fan()[0], instance.fan().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.gpio()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.reserve()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.crc()))
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_go::msg::dds_::LowCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::LowCmd_>();
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_GO2_LOWCMD__HPP

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unitree_SDK/include/unitree/idl/go2/LowState_.hpp Normal file
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528
unitree_SDK/include/unitree/idl/go2/MotorCmd_.hpp Normal file
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@@ -0,0 +1,528 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: MotorCmd_.idl
Source: MotorCmd_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORCMD__HPP
#define DDSCXX_UNITREE_IDL_GO2_MOTORCMD__HPP
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class MotorCmd_
{
private:
uint8_t mode_ = 0;
float q_ = 0.0f;
float dq_ = 0.0f;
float tau_ = 0.0f;
float kp_ = 0.0f;
float kd_ = 0.0f;
std::array<uint32_t, 3> reserve_ = { };
public:
MotorCmd_() = default;
explicit MotorCmd_(
uint8_t mode,
float q,
float dq,
float tau,
float kp,
float kd,
const std::array<uint32_t, 3>& reserve) :
mode_(mode),
q_(q),
dq_(dq),
tau_(tau),
kp_(kp),
kd_(kd),
reserve_(reserve) { }
uint8_t mode() const { return this->mode_; }
uint8_t& mode() { return this->mode_; }
void mode(uint8_t _val_) { this->mode_ = _val_; }
float q() const { return this->q_; }
float& q() { return this->q_; }
void q(float _val_) { this->q_ = _val_; }
float dq() const { return this->dq_; }
float& dq() { return this->dq_; }
void dq(float _val_) { this->dq_ = _val_; }
float tau() const { return this->tau_; }
float& tau() { return this->tau_; }
void tau(float _val_) { this->tau_ = _val_; }
float kp() const { return this->kp_; }
float& kp() { return this->kp_; }
void kp(float _val_) { this->kp_ = _val_; }
float kd() const { return this->kd_; }
float& kd() { return this->kd_; }
void kd(float _val_) { this->kd_ = _val_; }
const std::array<uint32_t, 3>& reserve() const { return this->reserve_; }
std::array<uint32_t, 3>& reserve() { return this->reserve_; }
void reserve(const std::array<uint32_t, 3>& _val_) { this->reserve_ = _val_; }
void reserve(std::array<uint32_t, 3>&& _val_) { this->reserve_ = _val_; }
bool operator==(const MotorCmd_& _other) const
{
(void) _other;
return mode_ == _other.mode_ &&
q_ == _other.q_ &&
dq_ == _other.dq_ &&
tau_ == _other.tau_ &&
kp_ == _other.kp_ &&
kd_ == _other.kd_ &&
reserve_ == _other.reserve_;
}
bool operator!=(const MotorCmd_& _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_go::msg::dds_::MotorCmd_>::getTypeName()
{
return "unitree_go::msg::dds_::MotorCmd_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob_sz() { return 478; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob() {
static const uint8_t blob[] = {
0xa6, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x8e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00,
0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x06, 0x01, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff,
0x16, 0x30, 0x3b, 0x00, 0xee, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f,
0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d,
0x6f, 0x74, 0x6f, 0x72, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x00, 0x00, 0x00,
0x07, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00,
0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00,
0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00,
0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65,
0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0xf1,
0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d,
0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff,
0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::MotorCmd_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorCmd_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::MotorCmd_& 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 (!write(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.tau()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.kp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.kd()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
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_go::msg::dds_::MotorCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
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_go::msg::dds_::MotorCmd_& 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 (!read(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.tau()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.kp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.kd()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
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_go::msg::dds_::MotorCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
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_go::msg::dds_::MotorCmd_& 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 (!move(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.tau()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.kp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.kd()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
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_go::msg::dds_::MotorCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
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_go::msg::dds_::MotorCmd_& 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 (!max(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.tau()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.kp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.kd()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
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_go::msg::dds_::MotorCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
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_GO2_MOTORCMD__HPP

348
unitree_SDK/include/unitree/idl/go2/MotorCmds_.hpp Normal file
View File

@@ -0,0 +1,348 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: MotorCmds_.idl
Source: MotorCmds_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORCMDS__HPP
#define DDSCXX_UNITREE_IDL_GO2_MOTORCMDS__HPP
#include "unitree/idl/go2/MotorCmd_.hpp"
#include <vector>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class MotorCmds_
{
private:
std::vector<::unitree_go::msg::dds_::MotorCmd_> cmds_;
public:
MotorCmds_() = default;
explicit MotorCmds_(
const std::vector<::unitree_go::msg::dds_::MotorCmd_>& cmds) :
cmds_(cmds) { }
const std::vector<::unitree_go::msg::dds_::MotorCmd_>& cmds() const { return this->cmds_; }
std::vector<::unitree_go::msg::dds_::MotorCmd_>& cmds() { return this->cmds_; }
void cmds(const std::vector<::unitree_go::msg::dds_::MotorCmd_>& _val_) { this->cmds_ = _val_; }
void cmds(std::vector<::unitree_go::msg::dds_::MotorCmd_>&& _val_) { this->cmds_ = _val_; }
bool operator==(const MotorCmds_& _other) const
{
(void) _other;
return cmds_ == _other.cmds_;
}
bool operator!=(const MotorCmds_& _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_go::msg::dds_::MotorCmds_>::getTypeName()
{
return "unitree_go::msg::dds_::MotorCmds_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_map_blob_sz() { return 708; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_info_blob_sz() { return 148; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_map_blob() {
static const uint8_t blob[] = {
0xf2, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0xf1, 0x8b, 0xdd, 0x20, 0x7f, 0x54, 0xf9, 0xc2,
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0x1d, 0xfa, 0x02, 0xff, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::type_info_blob() {
static const uint8_t blob[] = {
0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00,
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0xa0, 0x48, 0x2e, 0x00, 0x3a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
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0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x2e, 0xa8, 0x7a,
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0xf2, 0x00, 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_go::msg::dds_::MotorCmds_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorCmds_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorCmds_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::MotorCmds_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::MotorCmds_& 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.cmds().size());
if (!write(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!write(streamer, instance.cmds()[i_1], prop))
return false;
} //i_1
} //end sequence 1
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_go::msg::dds_::MotorCmds_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>();
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_go::msg::dds_::MotorCmds_& 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.cmds().size());
if (!read(streamer, se_1))
return false;
instance.cmds().resize(se_1);
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!read(streamer, instance.cmds()[i_1], prop))
return false;
} //i_1
} //end sequence 1
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_go::msg::dds_::MotorCmds_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>();
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_go::msg::dds_::MotorCmds_& 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.cmds().size());
if (!move(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!move(streamer, instance.cmds()[i_1], prop))
return false;
} //i_1
} //end sequence 1
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_go::msg::dds_::MotorCmds_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>();
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_go::msg::dds_::MotorCmds_& 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.cmds()[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;
}
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_go::msg::dds_::MotorCmds_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmds_>();
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_GO2_MOTORCMDS__HPP

696
unitree_SDK/include/unitree/idl/go2/MotorState_.hpp Normal file
View File

@@ -0,0 +1,696 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: MotorState_.idl
Source: MotorState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORSTATE__HPP
#define DDSCXX_UNITREE_IDL_GO2_MOTORSTATE__HPP
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class MotorState_
{
private:
uint8_t mode_ = 0;
float q_ = 0.0f;
float dq_ = 0.0f;
float ddq_ = 0.0f;
float tau_est_ = 0.0f;
float q_raw_ = 0.0f;
float dq_raw_ = 0.0f;
float ddq_raw_ = 0.0f;
uint8_t temperature_ = 0;
uint32_t lost_ = 0;
std::array<uint32_t, 2> reserve_ = { };
public:
MotorState_() = default;
explicit MotorState_(
uint8_t mode,
float q,
float dq,
float ddq,
float tau_est,
float q_raw,
float dq_raw,
float ddq_raw,
uint8_t temperature,
uint32_t lost,
const std::array<uint32_t, 2>& reserve) :
mode_(mode),
q_(q),
dq_(dq),
ddq_(ddq),
tau_est_(tau_est),
q_raw_(q_raw),
dq_raw_(dq_raw),
ddq_raw_(ddq_raw),
temperature_(temperature),
lost_(lost),
reserve_(reserve) { }
uint8_t mode() const { return this->mode_; }
uint8_t& mode() { return this->mode_; }
void mode(uint8_t _val_) { this->mode_ = _val_; }
float q() const { return this->q_; }
float& q() { return this->q_; }
void q(float _val_) { this->q_ = _val_; }
float dq() const { return this->dq_; }
float& dq() { return this->dq_; }
void dq(float _val_) { this->dq_ = _val_; }
float ddq() const { return this->ddq_; }
float& ddq() { return this->ddq_; }
void ddq(float _val_) { this->ddq_ = _val_; }
float tau_est() const { return this->tau_est_; }
float& tau_est() { return this->tau_est_; }
void tau_est(float _val_) { this->tau_est_ = _val_; }
float q_raw() const { return this->q_raw_; }
float& q_raw() { return this->q_raw_; }
void q_raw(float _val_) { this->q_raw_ = _val_; }
float dq_raw() const { return this->dq_raw_; }
float& dq_raw() { return this->dq_raw_; }
void dq_raw(float _val_) { this->dq_raw_ = _val_; }
float ddq_raw() const { return this->ddq_raw_; }
float& ddq_raw() { return this->ddq_raw_; }
void ddq_raw(float _val_) { this->ddq_raw_ = _val_; }
uint8_t temperature() const { return this->temperature_; }
uint8_t& temperature() { return this->temperature_; }
void temperature(uint8_t _val_) { this->temperature_ = _val_; }
uint32_t lost() const { return this->lost_; }
uint32_t& lost() { return this->lost_; }
void lost(uint32_t _val_) { this->lost_ = _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 MotorState_& _other) const
{
(void) _other;
return mode_ == _other.mode_ &&
q_ == _other.q_ &&
dq_ == _other.dq_ &&
ddq_ == _other.ddq_ &&
tau_est_ == _other.tau_est_ &&
q_raw_ == _other.q_raw_ &&
dq_raw_ == _other.dq_raw_ &&
ddq_raw_ == _other.ddq_raw_ &&
temperature_ == _other.temperature_ &&
lost_ == _other.lost_ &&
reserve_ == _other.reserve_;
}
bool operator!=(const MotorState_& _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_go::msg::dds_::MotorState_>::getTypeName()
{
return "unitree_go::msg::dds_::MotorState_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_map_blob_sz() { return 658; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_map_blob() {
static const uint8_t blob[] = {
0xe6, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8,
0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, 0xbe, 0x00, 0xce, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xbe, 0x00, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xee, 0xf4, 0x38, 0xf7, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x1c, 0x9a, 0x44, 0xeb, 0x00,
0x16, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x64, 0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00,
0x16, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00,
0x74, 0x61, 0x75, 0x5f, 0x65, 0x73, 0x74, 0x00, 0x00, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x06, 0x00, 0x00, 0x00, 0x71, 0x5f, 0x72, 0x61,
0x77, 0x00, 0x00, 0x00, 0x15, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
0x07, 0x00, 0x00, 0x00, 0x64, 0x71, 0x5f, 0x72, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x16, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x08, 0x00, 0x00, 0x00,
0x64, 0x64, 0x71, 0x5f, 0x72, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00,
0x08, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70,
0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00,
0x09, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x05, 0x00, 0x00, 0x00, 0x6c, 0x6f, 0x73, 0x74,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00,
0x72, 0x65, 0x73, 0x65, 0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8, 0xbc, 0x9c, 0x41, 0xe5,
0x0b, 0xa1, 0xc9, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36,
0xb1, 0xbe, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x42, 0xa2, 0x28, 0x8b, 0x79, 0x8a, 0xf8, 0xdb, 0x05, 0xe1, 0x27,
0x36, 0xb1, 0xbe, 0x00, 0xd2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xd2, 0xbc, 0xfb, 0x97, 0xbe, 0x37, 0xa8, 0xbc, 0x9c, 0x41, 0xe5,
0x0b, 0xa1, 0xc9, 0x00, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::MotorState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::MotorState_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::MotorState_& 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 (!write(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.q_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.dq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.ddq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.temperature()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.lost()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
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_go::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorState_>();
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_go::msg::dds_::MotorState_& 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 (!read(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.q_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.dq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.ddq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.temperature()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.lost()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
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_go::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorState_>();
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_go::msg::dds_::MotorState_& 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 (!move(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.q_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.dq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.ddq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.temperature()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.lost()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
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_go::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorState_>();
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_go::msg::dds_::MotorState_& 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 (!max(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.q()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.dq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.ddq()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.tau_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.q_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.dq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.ddq_raw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.temperature()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.lost()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
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_go::msg::dds_::MotorState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorState_>();
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_GO2_MOTORSTATE__HPP

359
unitree_SDK/include/unitree/idl/go2/MotorStates_.hpp Normal file
View File

@@ -0,0 +1,359 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: MotorStates_.idl
Source: MotorStates_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORSTATES__HPP
#define DDSCXX_UNITREE_IDL_GO2_MOTORSTATES__HPP
#include "unitree/idl/go2/MotorState_.hpp"
#include <vector>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class MotorStates_
{
private:
std::vector<::unitree_go::msg::dds_::MotorState_> states_;
public:
MotorStates_() = default;
explicit MotorStates_(
const std::vector<::unitree_go::msg::dds_::MotorState_>& states) :
states_(states) { }
const std::vector<::unitree_go::msg::dds_::MotorState_>& states() const { return this->states_; }
std::vector<::unitree_go::msg::dds_::MotorState_>& states() { return this->states_; }
void states(const std::vector<::unitree_go::msg::dds_::MotorState_>& _val_) { this->states_ = _val_; }
void states(std::vector<::unitree_go::msg::dds_::MotorState_>&& _val_) { this->states_ = _val_; }
bool operator==(const MotorStates_& _other) const
{
(void) _other;
return states_ == _other.states_;
}
bool operator!=(const MotorStates_& _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_go::msg::dds_::MotorStates_>::getTypeName()
{
return "unitree_go::msg::dds_::MotorStates_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorStates_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorStates_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorStates_>::type_map_blob_sz() { return 888; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorStates_>::type_info_blob_sz() { return 148; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorStates_>::type_map_blob() {
static const uint8_t blob[] = {
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0xf8, 0xdb, 0x05, 0xe1, 0x27, 0x36, 0xb1, 0xbe, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorStates_>::type_info_blob() {
static const uint8_t blob[] = {
0x90, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00,
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0x66, 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_go::msg::dds_::MotorStates_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::MotorStates_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::MotorStates_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::MotorStates_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::MotorStates_& 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.states().size());
if (!write(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!write(streamer, instance.states()[i_1], prop))
return false;
} //i_1
} //end sequence 1
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_go::msg::dds_::MotorStates_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>();
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_go::msg::dds_::MotorStates_& 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.states().size());
if (!read(streamer, se_1))
return false;
instance.states().resize(se_1);
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!read(streamer, instance.states()[i_1], prop))
return false;
} //i_1
} //end sequence 1
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_go::msg::dds_::MotorStates_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>();
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_go::msg::dds_::MotorStates_& 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.states().size());
if (!move(streamer, se_1))
return false;
for (uint32_t i_1 = 0; i_1 < se_1; i_1++) {
if (!move(streamer, instance.states()[i_1], prop))
return false;
} //i_1
} //end sequence 1
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_go::msg::dds_::MotorStates_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>();
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_go::msg::dds_::MotorStates_& 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.states()[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;
}
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_go::msg::dds_::MotorStates_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::MotorStates_>();
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_GO2_MOTORSTATES__HPP

508
unitree_SDK/include/unitree/idl/go2/PathPoint_.hpp Normal file
View File

@@ -0,0 +1,508 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: PathPoint_.idl
Source: PathPoint_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_PATHPOINT__HPP
#define DDSCXX_UNITREE_IDL_GO2_PATHPOINT__HPP
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class PathPoint_
{
private:
float t_from_start_ = 0.0f;
float x_ = 0.0f;
float y_ = 0.0f;
float yaw_ = 0.0f;
float vx_ = 0.0f;
float vy_ = 0.0f;
float vyaw_ = 0.0f;
public:
PathPoint_() = default;
explicit PathPoint_(
float t_from_start,
float x,
float y,
float yaw,
float vx,
float vy,
float vyaw) :
t_from_start_(t_from_start),
x_(x),
y_(y),
yaw_(yaw),
vx_(vx),
vy_(vy),
vyaw_(vyaw) { }
float t_from_start() const { return this->t_from_start_; }
float& t_from_start() { return this->t_from_start_; }
void t_from_start(float _val_) { this->t_from_start_ = _val_; }
float x() const { return this->x_; }
float& x() { return this->x_; }
void x(float _val_) { this->x_ = _val_; }
float y() const { return this->y_; }
float& y() { return this->y_; }
void y(float _val_) { this->y_ = _val_; }
float yaw() const { return this->yaw_; }
float& yaw() { return this->yaw_; }
void yaw(float _val_) { this->yaw_ = _val_; }
float vx() const { return this->vx_; }
float& vx() { return this->vx_; }
void vx(float _val_) { this->vx_ = _val_; }
float vy() const { return this->vy_; }
float& vy() { return this->vy_; }
void vy(float _val_) { this->vy_ = _val_; }
float vyaw() const { return this->vyaw_; }
float& vyaw() { return this->vyaw_; }
void vyaw(float _val_) { this->vyaw_ = _val_; }
bool operator==(const PathPoint_& _other) const
{
(void) _other;
return t_from_start_ == _other.t_from_start_ &&
x_ == _other.x_ &&
y_ == _other.y_ &&
yaw_ == _other.yaw_ &&
vx_ == _other.vx_ &&
vy_ == _other.vy_ &&
vyaw_ == _other.vyaw_;
}
bool operator!=(const PathPoint_& _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_go::msg::dds_::PathPoint_>::getTypeName()
{
return "unitree_go::msg::dds_::PathPoint_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::PathPoint_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_map_blob_sz() { return 454; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_map_blob() {
static const uint8_t blob[] = {
0x9b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4,
0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00, 0x83, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x73, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe9, 0x6c, 0x41, 0xab, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x9d, 0xd4, 0xe4, 0x61, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x41, 0x52, 0x90, 0x76, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x92, 0xdd, 0xa6, 0x44, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x7f, 0xc7, 0x3d, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x94, 0x95, 0xfa, 0x6c, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x83, 0x29, 0x00, 0xa3, 0x00,
0xfb, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f,
0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00, 0xe3, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x50, 0x61, 0x74, 0x68, 0x50, 0x6f, 0x69, 0x6e, 0x74, 0x5f, 0x00, 0x00, 0x00,
0xab, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x74, 0x5f, 0x66, 0x72, 0x6f, 0x6d, 0x5f, 0x73,
0x74, 0x61, 0x72, 0x74, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x79, 0x00, 0x00, 0x00,
0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00,
0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x76, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
0x76, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x05, 0x00, 0x00, 0x00, 0x76, 0x79, 0x61, 0x77, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f,
0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a,
0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::PathPoint_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae,
0xf6, 0xbd, 0xe2, 0x00, 0x87, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf,
0xa2, 0xd4, 0x15, 0x00, 0xe7, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::PathPoint_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::PathPoint_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::PathPoint_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::PathPoint_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::PathPoint_& 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 (!write(streamer, instance.t_from_start()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.x()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.y()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.vx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.vy()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.vyaw()))
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_go::msg::dds_::PathPoint_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>();
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_go::msg::dds_::PathPoint_& 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 (!read(streamer, instance.t_from_start()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.x()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.y()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.vx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.vy()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.vyaw()))
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_go::msg::dds_::PathPoint_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>();
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_go::msg::dds_::PathPoint_& 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 (!move(streamer, instance.t_from_start()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.x()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.y()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.vx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.vy()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.vyaw()))
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_go::msg::dds_::PathPoint_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>();
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_go::msg::dds_::PathPoint_& 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 (!max(streamer, instance.t_from_start()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.x()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.y()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.vx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.vy()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.vyaw()))
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_go::msg::dds_::PathPoint_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::PathPoint_>();
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_GO2_PATHPOINT__HPP

308
unitree_SDK/include/unitree/idl/go2/Req_.hpp Normal file
View File

@@ -0,0 +1,308 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: Req_.idl
Source: Req_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_REQ__HPP
#define DDSCXX_UNITREE_IDL_GO2_REQ__HPP
#include <string>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class Req_
{
private:
std::string uuid_;
std::string body_;
public:
Req_() = default;
explicit Req_(
const std::string& uuid,
const std::string& body) :
uuid_(uuid),
body_(body) { }
const std::string& uuid() const { return this->uuid_; }
std::string& uuid() { return this->uuid_; }
void uuid(const std::string& _val_) { this->uuid_ = _val_; }
void uuid(std::string&& _val_) { this->uuid_ = _val_; }
const std::string& body() const { return this->body_; }
std::string& body() { return this->body_; }
void body(const std::string& _val_) { this->body_ = _val_; }
void body(std::string&& _val_) { this->body_ = _val_; }
bool operator==(const Req_& _other) const
{
(void) _other;
return uuid_ == _other.uuid_ &&
body_ == _other.body_;
}
bool operator!=(const Req_& _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_go::msg::dds_::Req_>::getTypeName()
{
return "unitree_go::msg::dds_::Req_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Req_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Req_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Req_>::type_map_blob_sz() { return 246; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Req_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Req_>::type_map_blob() {
static const uint8_t blob[] = {
0x4c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x65, 0xcc, 0xb2, 0xec, 0x1b, 0x91, 0xab,
0x31, 0x5f, 0x50, 0x70, 0x86, 0x74, 0x52, 0x00, 0x34, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xef, 0x7c, 0x87, 0x6f,
0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x84, 0x1a, 0x2d, 0x68,
0x7b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x03, 0x02, 0x36, 0x18, 0x03, 0xef, 0x61,
0x1d, 0xd6, 0x73, 0x0b, 0x4b, 0x4d, 0x57, 0x00, 0x63, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x71, 0x5f, 0x00, 0x33, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00,
0x75, 0x75, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x62, 0x6f, 0x64, 0x79, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x03, 0x02, 0x36, 0x18, 0x03, 0xef, 0x61,
0x1d, 0xd6, 0x73, 0x0b, 0x4b, 0x4d, 0x57, 0xf1, 0x65, 0xcc, 0xb2, 0xec, 0x1b, 0x91, 0xab, 0x31,
0x5f, 0x50, 0x70, 0x86, 0x74, 0x52, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Req_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x65, 0xcc, 0xb2, 0xec, 0x1b, 0x91, 0xab, 0x31, 0x5f, 0x50, 0x70,
0x86, 0x74, 0x52, 0x00, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x03, 0x02, 0x36, 0x18, 0x03, 0xef, 0x61, 0x1d, 0xd6, 0x73, 0x0b,
0x4b, 0x4d, 0x57, 0x00, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::Req_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Req_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Req_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::Req_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::Req_& 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 (!write_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write_string(streamer, instance.body(), 0))
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_go::msg::dds_::Req_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Req_>();
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_go::msg::dds_::Req_& 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 (!read_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read_string(streamer, instance.body(), 0))
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_go::msg::dds_::Req_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Req_>();
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_go::msg::dds_::Req_& 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 (!move_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move_string(streamer, instance.body(), 0))
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_go::msg::dds_::Req_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Req_>();
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_go::msg::dds_::Req_& 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 (!max_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max_string(streamer, instance.body(), 0))
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_go::msg::dds_::Req_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Req_>();
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_GO2_REQ__HPP

395
unitree_SDK/include/unitree/idl/go2/Res_.hpp Normal file
View File

@@ -0,0 +1,395 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: Res_.idl
Source: Res_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_RES__HPP
#define DDSCXX_UNITREE_IDL_GO2_RES__HPP
#include <cstdint>
#include <vector>
#include <string>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class Res_
{
private:
std::string uuid_;
std::vector<uint8_t> data_;
std::string body_;
public:
Res_() = default;
explicit Res_(
const std::string& uuid,
const std::vector<uint8_t>& data,
const std::string& body) :
uuid_(uuid),
data_(data),
body_(body) { }
const std::string& uuid() const { return this->uuid_; }
std::string& uuid() { return this->uuid_; }
void uuid(const std::string& _val_) { this->uuid_ = _val_; }
void uuid(std::string&& _val_) { this->uuid_ = _val_; }
const std::vector<uint8_t>& data() const { return this->data_; }
std::vector<uint8_t>& data() { return this->data_; }
void data(const std::vector<uint8_t>& _val_) { this->data_ = _val_; }
void data(std::vector<uint8_t>&& _val_) { this->data_ = _val_; }
const std::string& body() const { return this->body_; }
std::string& body() { return this->body_; }
void body(const std::string& _val_) { this->body_ = _val_; }
void body(std::string&& _val_) { this->body_ = _val_; }
bool operator==(const Res_& _other) const
{
(void) _other;
return uuid_ == _other.uuid_ &&
data_ == _other.data_ &&
body_ == _other.body_;
}
bool operator!=(const Res_& _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_go::msg::dds_::Res_>::getTypeName()
{
return "unitree_go::msg::dds_::Res_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Res_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::Res_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Res_>::type_map_blob_sz() { return 294; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::Res_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Res_>::type_map_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x69, 0xfa, 0xd9, 0x7e, 0x47, 0x4e, 0xa0,
0x13, 0x2b, 0xc3, 0x64, 0xa3, 0xd8, 0xca, 0x00, 0x48, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0xef, 0x7c, 0x87, 0x6f,
0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02,
0x8d, 0x77, 0x7f, 0x38, 0x0c, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00,
0x84, 0x1a, 0x2d, 0x68, 0x97, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0x28, 0xe7,
0x14, 0xf2, 0x86, 0x5c, 0xb5, 0xdb, 0x4d, 0x4f, 0x9b, 0x8d, 0x01, 0x00, 0x7f, 0x00, 0x00, 0x00,
0xf2, 0x51, 0x01, 0x00, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00,
0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a,
0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x52, 0x65, 0x73, 0x5f, 0x00, 0x4f, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00,
0x05, 0x00, 0x00, 0x00, 0x75, 0x75, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x05, 0x00, 0x00, 0x00,
0x64, 0x61, 0x74, 0x61, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x01, 0x00, 0x70, 0x00, 0x05, 0x00, 0x00, 0x00, 0x62, 0x6f, 0x64, 0x79, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0x28, 0xe7, 0x14, 0xf2, 0x86, 0x5c,
0xb5, 0xdb, 0x4d, 0x4f, 0x9b, 0x8d, 0x01, 0xf1, 0x69, 0xfa, 0xd9, 0x7e, 0x47, 0x4e, 0xa0, 0x13,
0x2b, 0xc3, 0x64, 0xa3, 0xd8, 0xca, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::Res_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x69, 0xfa, 0xd9, 0x7e, 0x47, 0x4e, 0xa0, 0x13, 0x2b, 0xc3, 0x64,
0xa3, 0xd8, 0xca, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xd1, 0x28, 0xe7, 0x14, 0xf2, 0x86, 0x5c, 0xb5, 0xdb, 0x4d, 0x4f,
0x9b, 0x8d, 0x01, 0x00, 0x83, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::Res_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::Res_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::Res_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::Res_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::Res_& 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 (!write_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.data()[0], se_1))
return false;
} //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_string(streamer, instance.body(), 0))
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_go::msg::dds_::Res_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Res_>();
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_go::msg::dds_::Res_& 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 (!read_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!read(streamer, se_1))
return false;
instance.data().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.data()[0], se_1))
return false;
} //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_string(streamer, instance.body(), 0))
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_go::msg::dds_::Res_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Res_>();
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_go::msg::dds_::Res_& 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 (!move_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //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_string(streamer, instance.body(), 0))
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_go::msg::dds_::Res_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Res_>();
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_go::msg::dds_::Res_& 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 (!max_string(streamer, instance.uuid(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //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_string(streamer, instance.body(), 0))
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_go::msg::dds_::Res_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::Res_>();
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_GO2_RES__HPP

819
unitree_SDK/include/unitree/idl/go2/SportModeCmd_.hpp Normal file
View File

@@ -0,0 +1,819 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: SportModeCmd_.idl
Source: SportModeCmd_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_SPORTMODECMD__HPP
#define DDSCXX_UNITREE_IDL_GO2_SPORTMODECMD__HPP
#include "unitree/idl/go2/BmsCmd_.hpp"
#include "unitree/idl/go2/PathPoint_.hpp"
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class SportModeCmd_
{
private:
uint8_t mode_ = 0;
uint8_t gait_type_ = 0;
uint8_t speed_level_ = 0;
float foot_raise_height_ = 0.0f;
float body_height_ = 0.0f;
std::array<float, 2> position_ = { };
std::array<float, 3> euler_ = { };
std::array<float, 2> velocity_ = { };
float yaw_speed_ = 0.0f;
::unitree_go::msg::dds_::BmsCmd_ bms_cmd_;
std::array<::unitree_go::msg::dds_::PathPoint_, 30> path_point_ = { };
public:
SportModeCmd_() = default;
explicit SportModeCmd_(
uint8_t mode,
uint8_t gait_type,
uint8_t speed_level,
float foot_raise_height,
float body_height,
const std::array<float, 2>& position,
const std::array<float, 3>& euler,
const std::array<float, 2>& velocity,
float yaw_speed,
const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd,
const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point) :
mode_(mode),
gait_type_(gait_type),
speed_level_(speed_level),
foot_raise_height_(foot_raise_height),
body_height_(body_height),
position_(position),
euler_(euler),
velocity_(velocity),
yaw_speed_(yaw_speed),
bms_cmd_(bms_cmd),
path_point_(path_point) { }
uint8_t mode() const { return this->mode_; }
uint8_t& mode() { return this->mode_; }
void mode(uint8_t _val_) { this->mode_ = _val_; }
uint8_t gait_type() const { return this->gait_type_; }
uint8_t& gait_type() { return this->gait_type_; }
void gait_type(uint8_t _val_) { this->gait_type_ = _val_; }
uint8_t speed_level() const { return this->speed_level_; }
uint8_t& speed_level() { return this->speed_level_; }
void speed_level(uint8_t _val_) { this->speed_level_ = _val_; }
float foot_raise_height() const { return this->foot_raise_height_; }
float& foot_raise_height() { return this->foot_raise_height_; }
void foot_raise_height(float _val_) { this->foot_raise_height_ = _val_; }
float body_height() const { return this->body_height_; }
float& body_height() { return this->body_height_; }
void body_height(float _val_) { this->body_height_ = _val_; }
const std::array<float, 2>& position() const { return this->position_; }
std::array<float, 2>& position() { return this->position_; }
void position(const std::array<float, 2>& _val_) { this->position_ = _val_; }
void position(std::array<float, 2>&& _val_) { this->position_ = _val_; }
const std::array<float, 3>& euler() const { return this->euler_; }
std::array<float, 3>& euler() { return this->euler_; }
void euler(const std::array<float, 3>& _val_) { this->euler_ = _val_; }
void euler(std::array<float, 3>&& _val_) { this->euler_ = _val_; }
const std::array<float, 2>& velocity() const { return this->velocity_; }
std::array<float, 2>& velocity() { return this->velocity_; }
void velocity(const std::array<float, 2>& _val_) { this->velocity_ = _val_; }
void velocity(std::array<float, 2>&& _val_) { this->velocity_ = _val_; }
float yaw_speed() const { return this->yaw_speed_; }
float& yaw_speed() { return this->yaw_speed_; }
void yaw_speed(float _val_) { this->yaw_speed_ = _val_; }
const ::unitree_go::msg::dds_::BmsCmd_& bms_cmd() const { return this->bms_cmd_; }
::unitree_go::msg::dds_::BmsCmd_& bms_cmd() { return this->bms_cmd_; }
void bms_cmd(const ::unitree_go::msg::dds_::BmsCmd_& _val_) { this->bms_cmd_ = _val_; }
void bms_cmd(::unitree_go::msg::dds_::BmsCmd_&& _val_) { this->bms_cmd_ = _val_; }
const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() const { return this->path_point_; }
std::array<::unitree_go::msg::dds_::PathPoint_, 30>& path_point() { return this->path_point_; }
void path_point(const std::array<::unitree_go::msg::dds_::PathPoint_, 30>& _val_) { this->path_point_ = _val_; }
void path_point(std::array<::unitree_go::msg::dds_::PathPoint_, 30>&& _val_) { this->path_point_ = _val_; }
bool operator==(const SportModeCmd_& _other) const
{
(void) _other;
return mode_ == _other.mode_ &&
gait_type_ == _other.gait_type_ &&
speed_level_ == _other.speed_level_ &&
foot_raise_height_ == _other.foot_raise_height_ &&
body_height_ == _other.body_height_ &&
position_ == _other.position_ &&
euler_ == _other.euler_ &&
velocity_ == _other.velocity_ &&
yaw_speed_ == _other.yaw_speed_ &&
bms_cmd_ == _other.bms_cmd_ &&
path_point_ == _other.path_point_;
}
bool operator!=(const SportModeCmd_& _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_go::msg::dds_::SportModeCmd_>::getTypeName()
{
return "unitree_go::msg::dds_::SportModeCmd_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_map_blob_sz() { return 1506; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_info_blob_sz() { return 196; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_map_blob() {
static const uint8_t blob[] = {
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0xf1, 0x6b, 0x34, 0x22, 0x33, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0, 0x7e, 0x52, 0xcf,
0x51, 0xed, 0x4a, 0x23, 0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf,
0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6,
0xbd, 0xe2, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::type_info_blob() {
static const uint8_t blob[] = {
0xc0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0xbc, 0x00, 0xba, 0x9a, 0x8c, 0x2d, 0x02, 0x68, 0x52, 0x1d,
0xd0, 0xd4, 0xb6, 0x00, 0x14, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x3e, 0x8e, 0xb6, 0x7c, 0x25, 0xfd, 0xe0,
0x7e, 0x52, 0xcf, 0x51, 0xed, 0x4a, 0x23, 0x00, 0x42, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00,
0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x58, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xbb, 0xbb, 0x27, 0xfd, 0xc5, 0x19, 0x66, 0x1a, 0x6a, 0xcc, 0x38,
0x22, 0x2e, 0x2f, 0x00, 0xcd, 0x01, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00,
0x02, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x31, 0xa8, 0x59, 0x24, 0x05, 0x6b, 0x7a,
0xf3, 0xd3, 0xf1, 0x6b, 0x34, 0x22, 0x33, 0x00, 0x7a, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00,
0xe7, 0x00, 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_go::msg::dds_::SportModeCmd_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::SportModeCmd_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::SportModeCmd_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::SportModeCmd_& 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 (!write(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.speed_level()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.euler()[0], instance.euler().size()))
return false;
if (!streamer.finish_consecutive())
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.velocity()[0], instance.velocity().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 (!write(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.path_point()) { //array depth 1
if (!write(streamer, a_1, prop))
return false;
} //array depth 1
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_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
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_go::msg::dds_::SportModeCmd_& 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 (!read(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.speed_level()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.euler()[0], instance.euler().size()))
return false;
if (!streamer.finish_consecutive())
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.velocity()[0], instance.velocity().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 (!read(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (auto & a_1:instance.path_point()) { //array depth 1
if (!read(streamer, a_1, prop))
return false;
} //array depth 1
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_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
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_go::msg::dds_::SportModeCmd_& 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 (!move(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.speed_level()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.euler()[0], instance.euler().size()))
return false;
if (!streamer.finish_consecutive())
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.velocity()[0], instance.velocity().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 (!move(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.path_point()) { //array depth 1
if (!move(streamer, a_1, prop))
return false;
} //array depth 1
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_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
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_go::msg::dds_::SportModeCmd_& 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 (!max(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.speed_level()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.euler()[0], instance.euler().size()))
return false;
if (!streamer.finish_consecutive())
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.velocity()[0], instance.velocity().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 (!max(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.bms_cmd(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.path_point()) { //array depth 1
if (!max(streamer, a_1, prop))
return false;
} //array depth 1
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_go::msg::dds_::SportModeCmd_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeCmd_>();
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_GO2_SPORTMODECMD__HPP

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unitree_SDK/include/unitree/idl/go2/SportModeState_.hpp Normal file
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File diff suppressed because it is too large Load Diff

302
unitree_SDK/include/unitree/idl/go2/TimeSpec_.hpp Normal file
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@@ -0,0 +1,302 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: TimeSpec_.idl
Source: TimeSpec_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_TIMESPEC__HPP
#define DDSCXX_UNITREE_IDL_GO2_TIMESPEC__HPP
#include <cstdint>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class TimeSpec_
{
private:
int32_t sec_ = 0;
uint32_t nanosec_ = 0;
public:
TimeSpec_() = default;
explicit TimeSpec_(
int32_t sec,
uint32_t nanosec) :
sec_(sec),
nanosec_(nanosec) { }
int32_t sec() const { return this->sec_; }
int32_t& sec() { return this->sec_; }
void sec(int32_t _val_) { this->sec_ = _val_; }
uint32_t nanosec() const { return this->nanosec_; }
uint32_t& nanosec() { return this->nanosec_; }
void nanosec(uint32_t _val_) { this->nanosec_ = _val_; }
bool operator==(const TimeSpec_& _other) const
{
(void) _other;
return sec_ == _other.sec_ &&
nanosec_ == _other.nanosec_;
}
bool operator!=(const TimeSpec_& _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_go::msg::dds_::TimeSpec_>::getTypeName()
{
return "unitree_go::msg::dds_::TimeSpec_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_map_blob_sz() { return 258; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_map_blob() {
static const uint8_t blob[] = {
0x4b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b,
0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x33, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x04, 0x74, 0x45, 0x9c, 0xa3, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0xe2, 0x04, 0x64, 0xd5, 0x00,
0x86, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b,
0xa9, 0x0b, 0xe9, 0x24, 0xc9, 0x35, 0xcc, 0x00, 0x6e, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x54, 0x69, 0x6d, 0x65, 0x53, 0x70, 0x65, 0x63, 0x5f, 0x00, 0x00, 0x00, 0x00,
0x36, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00,
0x16, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00, 0x08, 0x00, 0x00, 0x00,
0x6e, 0x61, 0x6e, 0x6f, 0x73, 0x65, 0x63, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24,
0xc9, 0x35, 0xcc, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba, 0x46,
0xf9, 0x8d, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b, 0x10, 0x86, 0xa4, 0xba,
0x46, 0xf9, 0x8d, 0x00, 0x37, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24,
0xc9, 0x35, 0xcc, 0x00, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::TimeSpec_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::TimeSpec_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::TimeSpec_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::TimeSpec_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::TimeSpec_& 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 (!write(streamer, instance.sec()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.nanosec()))
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_go::msg::dds_::TimeSpec_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>();
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_go::msg::dds_::TimeSpec_& 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 (!read(streamer, instance.sec()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.nanosec()))
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_go::msg::dds_::TimeSpec_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>();
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_go::msg::dds_::TimeSpec_& 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 (!move(streamer, instance.sec()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.nanosec()))
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_go::msg::dds_::TimeSpec_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>();
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_go::msg::dds_::TimeSpec_& 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 (!max(streamer, instance.sec()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.nanosec()))
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_go::msg::dds_::TimeSpec_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::TimeSpec_>();
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_GO2_TIMESPEC__HPP

968
unitree_SDK/include/unitree/idl/go2/UwbState_.hpp Normal file
View File

@@ -0,0 +1,968 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: UwbState_.idl
Source: UwbState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_UWBSTATE__HPP
#define DDSCXX_UNITREE_IDL_GO2_UWBSTATE__HPP
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class UwbState_
{
private:
std::array<uint8_t, 2> version_ = { };
uint8_t channel_ = 0;
uint8_t joy_mode_ = 0;
float orientation_est_ = 0.0f;
float pitch_est_ = 0.0f;
float distance_est_ = 0.0f;
float yaw_est_ = 0.0f;
float tag_roll_ = 0.0f;
float tag_pitch_ = 0.0f;
float tag_yaw_ = 0.0f;
float base_roll_ = 0.0f;
float base_pitch_ = 0.0f;
float base_yaw_ = 0.0f;
std::array<float, 2> joystick_ = { };
uint8_t error_state_ = 0;
uint8_t buttons_ = 0;
uint8_t enabled_from_app_ = 0;
public:
UwbState_() = default;
explicit UwbState_(
const std::array<uint8_t, 2>& version,
uint8_t channel,
uint8_t joy_mode,
float orientation_est,
float pitch_est,
float distance_est,
float yaw_est,
float tag_roll,
float tag_pitch,
float tag_yaw,
float base_roll,
float base_pitch,
float base_yaw,
const std::array<float, 2>& joystick,
uint8_t error_state,
uint8_t buttons,
uint8_t enabled_from_app) :
version_(version),
channel_(channel),
joy_mode_(joy_mode),
orientation_est_(orientation_est),
pitch_est_(pitch_est),
distance_est_(distance_est),
yaw_est_(yaw_est),
tag_roll_(tag_roll),
tag_pitch_(tag_pitch),
tag_yaw_(tag_yaw),
base_roll_(base_roll),
base_pitch_(base_pitch),
base_yaw_(base_yaw),
joystick_(joystick),
error_state_(error_state),
buttons_(buttons),
enabled_from_app_(enabled_from_app) { }
const std::array<uint8_t, 2>& version() const { return this->version_; }
std::array<uint8_t, 2>& version() { return this->version_; }
void version(const std::array<uint8_t, 2>& _val_) { this->version_ = _val_; }
void version(std::array<uint8_t, 2>&& _val_) { this->version_ = _val_; }
uint8_t channel() const { return this->channel_; }
uint8_t& channel() { return this->channel_; }
void channel(uint8_t _val_) { this->channel_ = _val_; }
uint8_t joy_mode() const { return this->joy_mode_; }
uint8_t& joy_mode() { return this->joy_mode_; }
void joy_mode(uint8_t _val_) { this->joy_mode_ = _val_; }
float orientation_est() const { return this->orientation_est_; }
float& orientation_est() { return this->orientation_est_; }
void orientation_est(float _val_) { this->orientation_est_ = _val_; }
float pitch_est() const { return this->pitch_est_; }
float& pitch_est() { return this->pitch_est_; }
void pitch_est(float _val_) { this->pitch_est_ = _val_; }
float distance_est() const { return this->distance_est_; }
float& distance_est() { return this->distance_est_; }
void distance_est(float _val_) { this->distance_est_ = _val_; }
float yaw_est() const { return this->yaw_est_; }
float& yaw_est() { return this->yaw_est_; }
void yaw_est(float _val_) { this->yaw_est_ = _val_; }
float tag_roll() const { return this->tag_roll_; }
float& tag_roll() { return this->tag_roll_; }
void tag_roll(float _val_) { this->tag_roll_ = _val_; }
float tag_pitch() const { return this->tag_pitch_; }
float& tag_pitch() { return this->tag_pitch_; }
void tag_pitch(float _val_) { this->tag_pitch_ = _val_; }
float tag_yaw() const { return this->tag_yaw_; }
float& tag_yaw() { return this->tag_yaw_; }
void tag_yaw(float _val_) { this->tag_yaw_ = _val_; }
float base_roll() const { return this->base_roll_; }
float& base_roll() { return this->base_roll_; }
void base_roll(float _val_) { this->base_roll_ = _val_; }
float base_pitch() const { return this->base_pitch_; }
float& base_pitch() { return this->base_pitch_; }
void base_pitch(float _val_) { this->base_pitch_ = _val_; }
float base_yaw() const { return this->base_yaw_; }
float& base_yaw() { return this->base_yaw_; }
void base_yaw(float _val_) { this->base_yaw_ = _val_; }
const std::array<float, 2>& joystick() const { return this->joystick_; }
std::array<float, 2>& joystick() { return this->joystick_; }
void joystick(const std::array<float, 2>& _val_) { this->joystick_ = _val_; }
void joystick(std::array<float, 2>&& _val_) { this->joystick_ = _val_; }
uint8_t error_state() const { return this->error_state_; }
uint8_t& error_state() { return this->error_state_; }
void error_state(uint8_t _val_) { this->error_state_ = _val_; }
uint8_t buttons() const { return this->buttons_; }
uint8_t& buttons() { return this->buttons_; }
void buttons(uint8_t _val_) { this->buttons_ = _val_; }
uint8_t enabled_from_app() const { return this->enabled_from_app_; }
uint8_t& enabled_from_app() { return this->enabled_from_app_; }
void enabled_from_app(uint8_t _val_) { this->enabled_from_app_ = _val_; }
bool operator==(const UwbState_& _other) const
{
(void) _other;
return version_ == _other.version_ &&
channel_ == _other.channel_ &&
joy_mode_ == _other.joy_mode_ &&
orientation_est_ == _other.orientation_est_ &&
pitch_est_ == _other.pitch_est_ &&
distance_est_ == _other.distance_est_ &&
yaw_est_ == _other.yaw_est_ &&
tag_roll_ == _other.tag_roll_ &&
tag_pitch_ == _other.tag_pitch_ &&
tag_yaw_ == _other.tag_yaw_ &&
base_roll_ == _other.base_roll_ &&
base_pitch_ == _other.base_pitch_ &&
base_yaw_ == _other.base_yaw_ &&
joystick_ == _other.joystick_ &&
error_state_ == _other.error_state_ &&
buttons_ == _other.buttons_ &&
enabled_from_app_ == _other.enabled_from_app_;
}
bool operator!=(const UwbState_& _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_go::msg::dds_::UwbState_>::getTypeName()
{
return "unitree_go::msg::dds_::UwbState_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::UwbState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_map_blob_sz() { return 998; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_map_blob() {
static const uint8_t blob[] = {
0x53, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xd9, 0x00, 0xc3, 0x35, 0xed, 0x0e, 0xb3,
0x3d, 0x57, 0x4e, 0xb0, 0xbe, 0x39, 0xae, 0x00, 0x3b, 0x01, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2b, 0x01, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00,
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0x6c, 0x65, 0x64, 0x5f, 0x66, 0x72, 0x6f, 0x6d, 0x5f, 0x61, 0x70, 0x70, 0x00, 0x00, 0x00, 0x00,
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x82, 0x5c, 0xad, 0xb9, 0xe5, 0x0d, 0xf1,
0x58, 0xaf, 0x64, 0xdc, 0x66, 0xa5, 0x20, 0xf1, 0xd9, 0x00, 0xc3, 0x35, 0xed, 0x0e, 0xb3, 0x3d,
0x57, 0x4e, 0xb0, 0xbe, 0x39, 0xae, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbState_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xd9, 0x00, 0xc3, 0x35, 0xed, 0x0e, 0xb3, 0x3d, 0x57, 0x4e, 0xb0,
0xbe, 0x39, 0xae, 0x00, 0x3f, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x82, 0x5c, 0xad, 0xb9, 0xe5, 0x0d, 0xf1, 0x58, 0xaf, 0x64, 0xdc,
0x66, 0xa5, 0x20, 0x00, 0x4f, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::UwbState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::UwbState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::UwbState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::UwbState_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::UwbState_& 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(true, true))
return false;
if (!write(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.channel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.joy_mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.orientation_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.pitch_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.distance_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.yaw_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.tag_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.tag_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.tag_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.base_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.base_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.base_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.joystick()[0], instance.joystick().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.error_state()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.buttons()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.enabled_from_app()))
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_go::msg::dds_::UwbState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>();
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_go::msg::dds_::UwbState_& 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(true, true))
return false;
if (!read(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.channel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.joy_mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.orientation_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.pitch_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.distance_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.yaw_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.tag_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.tag_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.tag_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.base_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.base_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.base_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.joystick()[0], instance.joystick().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.error_state()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.buttons()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.enabled_from_app()))
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_go::msg::dds_::UwbState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>();
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_go::msg::dds_::UwbState_& 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(true, true))
return false;
if (!move(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.channel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.joy_mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.orientation_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.pitch_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.distance_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.yaw_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.tag_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.tag_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.tag_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.base_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.base_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.base_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.joystick()[0], instance.joystick().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.error_state()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.buttons()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.enabled_from_app()))
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_go::msg::dds_::UwbState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>();
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_go::msg::dds_::UwbState_& 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(true, true))
return false;
if (!max(streamer, instance.version()[0], instance.version().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.channel()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.joy_mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.orientation_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.pitch_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.distance_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.yaw_est()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.tag_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.tag_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.tag_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.base_roll()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.base_pitch()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.base_yaw()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.joystick()[0], instance.joystick().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.error_state()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.buttons()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 16:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.enabled_from_app()))
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_go::msg::dds_::UwbState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbState_>();
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_GO2_UWBSTATE__HPP

260
unitree_SDK/include/unitree/idl/go2/UwbSwitch_.hpp Normal file
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/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: UwbSwitch_.idl
Source: UwbSwitch_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_UWBSWITCH__HPP
#define DDSCXX_UNITREE_IDL_GO2_UWBSWITCH__HPP
#include <cstdint>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class UwbSwitch_
{
private:
uint8_t enabled_ = 0;
public:
UwbSwitch_() = default;
explicit UwbSwitch_(
uint8_t enabled) :
enabled_(enabled) { }
uint8_t enabled() const { return this->enabled_; }
uint8_t& enabled() { return this->enabled_; }
void enabled(uint8_t _val_) { this->enabled_ = _val_; }
bool operator==(const UwbSwitch_& _other) const
{
(void) _other;
return enabled_ == _other.enabled_;
}
bool operator!=(const UwbSwitch_& _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_go::msg::dds_::UwbSwitch_>::getTypeName()
{
return "unitree_go::msg::dds_::UwbSwitch_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_map_blob_sz() { return 218; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_map_blob() {
static const uint8_t blob[] = {
0x3b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xcf, 0xfe, 0xd4, 0x3a, 0x87, 0x3e,
0x4b, 0xff, 0x03, 0x70, 0x95, 0x52, 0x60, 0x00, 0x23, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xa1, 0x03, 0x11, 0x45, 0x00,
0x6e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x22, 0x0e, 0x76, 0xfa, 0x1b, 0x1c, 0x22,
0x03, 0x2c, 0x71, 0xd3, 0x7c, 0x77, 0x05, 0x00, 0x56, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x2a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x55, 0x77, 0x62, 0x53, 0x77, 0x69, 0x74, 0x63, 0x68, 0x5f, 0x00, 0x00, 0x00,
0x1e, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x02, 0x00, 0x08, 0x00, 0x00, 0x00, 0x65, 0x6e, 0x61, 0x62, 0x6c, 0x65, 0x64, 0x00,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x22, 0x0e, 0x76,
0xfa, 0x1b, 0x1c, 0x22, 0x03, 0x2c, 0x71, 0xd3, 0x7c, 0x77, 0x05, 0xf1, 0xb3, 0xcf, 0xfe, 0xd4,
0x3a, 0x87, 0x3e, 0x4b, 0xff, 0x03, 0x70, 0x95, 0x52, 0x60, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xb3, 0xcf, 0xfe, 0xd4, 0x3a, 0x87, 0x3e, 0x4b, 0xff, 0x03, 0x70,
0x95, 0x52, 0x60, 0x00, 0x27, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x22, 0x0e, 0x76, 0xfa, 0x1b, 0x1c, 0x22, 0x03, 0x2c, 0x71, 0xd3,
0x7c, 0x77, 0x05, 0x00, 0x5a, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::UwbSwitch_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::UwbSwitch_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::UwbSwitch_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::UwbSwitch_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::UwbSwitch_& 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 (!write(streamer, instance.enabled()))
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_go::msg::dds_::UwbSwitch_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>();
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_go::msg::dds_::UwbSwitch_& 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 (!read(streamer, instance.enabled()))
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_go::msg::dds_::UwbSwitch_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>();
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_go::msg::dds_::UwbSwitch_& 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 (!move(streamer, instance.enabled()))
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_go::msg::dds_::UwbSwitch_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>();
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_go::msg::dds_::UwbSwitch_& 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 (!max(streamer, instance.enabled()))
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_go::msg::dds_::UwbSwitch_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::UwbSwitch_>();
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_GO2_UWBSWITCH__HPP

600
unitree_SDK/include/unitree/idl/go2/VoxelMapCompressed_.hpp Normal file
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@@ -0,0 +1,600 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: VoxelMapCompressed_.idl
Source: VoxelMapCompressed_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_VOXELMAPCOMPRESSED__HPP
#define DDSCXX_UNITREE_IDL_GO2_VOXELMAPCOMPRESSED__HPP
#include <cstdint>
#include <array>
#include <vector>
#include <string>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class VoxelMapCompressed_
{
private:
double stamp_ = 0.0;
std::string frame_id_;
double resolution_ = 0.0;
std::array<double, 3> origin_ = { };
std::array<uint16_t, 3> width_ = { };
uint64_t src_size_ = 0;
std::vector<uint8_t> data_;
public:
VoxelMapCompressed_() = default;
explicit VoxelMapCompressed_(
double stamp,
const std::string& frame_id,
double resolution,
const std::array<double, 3>& origin,
const std::array<uint16_t, 3>& width,
uint64_t src_size,
const std::vector<uint8_t>& data) :
stamp_(stamp),
frame_id_(frame_id),
resolution_(resolution),
origin_(origin),
width_(width),
src_size_(src_size),
data_(data) { }
double stamp() const { return this->stamp_; }
double& stamp() { return this->stamp_; }
void stamp(double _val_) { this->stamp_ = _val_; }
const std::string& frame_id() const { return this->frame_id_; }
std::string& frame_id() { return this->frame_id_; }
void frame_id(const std::string& _val_) { this->frame_id_ = _val_; }
void frame_id(std::string&& _val_) { this->frame_id_ = _val_; }
double resolution() const { return this->resolution_; }
double& resolution() { return this->resolution_; }
void resolution(double _val_) { this->resolution_ = _val_; }
const std::array<double, 3>& origin() const { return this->origin_; }
std::array<double, 3>& origin() { return this->origin_; }
void origin(const std::array<double, 3>& _val_) { this->origin_ = _val_; }
void origin(std::array<double, 3>&& _val_) { this->origin_ = _val_; }
const std::array<uint16_t, 3>& width() const { return this->width_; }
std::array<uint16_t, 3>& width() { return this->width_; }
void width(const std::array<uint16_t, 3>& _val_) { this->width_ = _val_; }
void width(std::array<uint16_t, 3>&& _val_) { this->width_ = _val_; }
uint64_t src_size() const { return this->src_size_; }
uint64_t& src_size() { return this->src_size_; }
void src_size(uint64_t _val_) { this->src_size_ = _val_; }
const std::vector<uint8_t>& data() const { return this->data_; }
std::vector<uint8_t>& data() { return this->data_; }
void data(const std::vector<uint8_t>& _val_) { this->data_ = _val_; }
void data(std::vector<uint8_t>&& _val_) { this->data_ = _val_; }
bool operator==(const VoxelMapCompressed_& _other) const
{
(void) _other;
return stamp_ == _other.stamp_ &&
frame_id_ == _other.frame_id_ &&
resolution_ == _other.resolution_ &&
origin_ == _other.origin_ &&
width_ == _other.width_ &&
src_size_ == _other.src_size_ &&
data_ == _other.data_;
}
bool operator!=(const VoxelMapCompressed_& _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_go::msg::dds_::VoxelMapCompressed_>::getTypeName()
{
return "unitree_go::msg::dds_::VoxelMapCompressed_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::isSelfContained()
{
return false;
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_map_blob_sz() { return 538; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_map_blob() {
static const uint8_t blob[] = {
0xb8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xf4, 0x58, 0xe7, 0x8f, 0x62, 0xc9, 0xad,
0xbc, 0x43, 0x1d, 0x16, 0x4e, 0xdf, 0xdd, 0x00, 0xa0, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x96, 0xb8, 0xc7, 0x8d, 0x00,
0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00, 0x4b, 0xb3, 0x9c, 0x5c,
0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0xb7, 0xe1, 0x64, 0xb3, 0x00,
0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x03, 0x0a, 0x7c, 0x49, 0xb1, 0x53, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x03, 0x06, 0xea, 0xae, 0x26, 0xa6, 0x00, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
0x01, 0x00, 0x08, 0x20, 0x1e, 0x06, 0xae, 0x00, 0x10, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x8d, 0x77, 0x7f, 0x38, 0x33, 0x01, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf2, 0x07, 0xc6, 0xdb, 0x76, 0xf0, 0x34, 0x86, 0x2a, 0x75, 0x47, 0x5e,
0xd7, 0xa4, 0x76, 0x00, 0x1b, 0x01, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x33, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f,
0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x56,
0x6f, 0x78, 0x65, 0x6c, 0x4d, 0x61, 0x70, 0x43, 0x6f, 0x6d, 0x70, 0x72, 0x65, 0x73, 0x73, 0x65,
0x64, 0x5f, 0x00, 0x00, 0xdb, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x06, 0x00, 0x00, 0x00, 0x73, 0x74, 0x61, 0x6d,
0x70, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x70, 0x00,
0x09, 0x00, 0x00, 0x00, 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x69, 0x64, 0x00, 0x00, 0x00, 0x00,
0x19, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x0a, 0x00, 0x0b, 0x00, 0x00, 0x00,
0x72, 0x65, 0x73, 0x6f, 0x6c, 0x75, 0x74, 0x69, 0x6f, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x21, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x03, 0x0a, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x6f, 0x72, 0x69, 0x67,
0x69, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x06, 0x00, 0x00,
0x06, 0x00, 0x00, 0x00, 0x77, 0x69, 0x64, 0x74, 0x68, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00,
0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x08, 0x00, 0x09, 0x00, 0x00, 0x00, 0x73, 0x72, 0x63, 0x5f,
0x73, 0x69, 0x7a, 0x65, 0x00, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x01, 0x00, 0x80, 0xf3, 0x01, 0x00, 0x00, 0x02, 0x05, 0x00, 0x00, 0x00, 0x64, 0x61, 0x74, 0x61,
0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0x07, 0xc6, 0xdb,
0x76, 0xf0, 0x34, 0x86, 0x2a, 0x75, 0x47, 0x5e, 0xd7, 0xa4, 0x76, 0xf1, 0xf4, 0x58, 0xe7, 0x8f,
0x62, 0xc9, 0xad, 0xbc, 0x43, 0x1d, 0x16, 0x4e, 0xdf, 0xdd, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xf4, 0x58, 0xe7, 0x8f, 0x62, 0xc9, 0xad, 0xbc, 0x43, 0x1d, 0x16,
0x4e, 0xdf, 0xdd, 0x00, 0xa4, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0x07, 0xc6, 0xdb, 0x76, 0xf0, 0x34, 0x86, 0x2a, 0x75, 0x47, 0x5e,
0xd7, 0xa4, 0x76, 0x00, 0x1f, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::VoxelMapCompressed_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::VoxelMapCompressed_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::VoxelMapCompressed_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::VoxelMapCompressed_& 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 (!write(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.width()[0], instance.width().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.src_size()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!write(streamer, se_1))
return false;
if (se_1 > 0 &&
!write(streamer, instance.data()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>();
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_go::msg::dds_::VoxelMapCompressed_& 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 (!read(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.width()[0], instance.width().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.src_size()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!read(streamer, se_1))
return false;
instance.data().resize(se_1);
if (se_1 > 0 &&
!read(streamer, instance.data()[0], se_1))
return false;
} //end sequence 1
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_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>();
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_go::msg::dds_::VoxelMapCompressed_& 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 (!move(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.width()[0], instance.width().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.src_size()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = uint32_t(instance.data().size());
if (!move(streamer, se_1))
return false;
if (se_1 > 0 &&
!move(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
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_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>();
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_go::msg::dds_::VoxelMapCompressed_& 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 (!max(streamer, instance.stamp()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max_string(streamer, instance.frame_id(), 0))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.resolution()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.origin()[0], instance.origin().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.width()[0], instance.width().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.src_size()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(false, true))
return false;
{
uint32_t se_1 = 0;
if (!max(streamer, se_1))
return false;
if (se_1 > 0 &&
!max(streamer, uint8_t(), se_1))
return false;
} //end sequence 1
if (!streamer.finish_consecutive())
return false;
streamer.position(SIZE_MAX);
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_go::msg::dds_::VoxelMapCompressed_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::VoxelMapCompressed_>();
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_GO2_VOXELMAPCOMPRESSED__HPP

426
unitree_SDK/include/unitree/idl/go2/WirelessController_.hpp Normal file
View File

@@ -0,0 +1,426 @@
/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: WirelessController_.idl
Source: WirelessController_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_WIRELESSCONTROLLER__HPP
#define DDSCXX_UNITREE_IDL_GO2_WIRELESSCONTROLLER__HPP
#include <cstdint>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class WirelessController_
{
private:
float lx_ = 0.0f;
float ly_ = 0.0f;
float rx_ = 0.0f;
float ry_ = 0.0f;
uint16_t keys_ = 0;
public:
WirelessController_() = default;
explicit WirelessController_(
float lx,
float ly,
float rx,
float ry,
uint16_t keys) :
lx_(lx),
ly_(ly),
rx_(rx),
ry_(ry),
keys_(keys) { }
float lx() const { return this->lx_; }
float& lx() { return this->lx_; }
void lx(float _val_) { this->lx_ = _val_; }
float ly() const { return this->ly_; }
float& ly() { return this->ly_; }
void ly(float _val_) { this->ly_ = _val_; }
float rx() const { return this->rx_; }
float& rx() { return this->rx_; }
void rx(float _val_) { this->rx_ = _val_; }
float ry() const { return this->ry_; }
float& ry() { return this->ry_; }
void ry(float _val_) { this->ry_ = _val_; }
uint16_t keys() const { return this->keys_; }
uint16_t& keys() { return this->keys_; }
void keys(uint16_t _val_) { this->keys_ = _val_; }
bool operator==(const WirelessController_& _other) const
{
(void) _other;
return lx_ == _other.lx_ &&
ly_ == _other.ly_ &&
rx_ == _other.rx_ &&
ry_ == _other.ry_ &&
keys_ == _other.keys_;
}
bool operator!=(const WirelessController_& _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_go::msg::dds_::WirelessController_>::getTypeName()
{
return "unitree_go::msg::dds_::WirelessController_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::WirelessController_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_map_blob_sz() { return 382; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_map_blob() {
static const uint8_t blob[] = {
0x7b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xd8, 0xdc, 0x69, 0xff, 0xf5, 0xd7, 0x59,
0x61, 0xcd, 0x0e, 0x3f, 0xc0, 0x49, 0xcb, 0x00, 0x63, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x80, 0x37, 0xcc, 0xea, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0xe7, 0x28, 0xb4, 0x77, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x22, 0x77, 0x0f, 0xbd, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x73, 0x1a, 0x58, 0x83, 0x00,
0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x14, 0xf8, 0x02, 0xe1, 0x00,
0xd3, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xe9, 0x68, 0x6f, 0xe7, 0x6f, 0x7b, 0x08,
0xf9, 0x2c, 0xb2, 0x49, 0x43, 0xac, 0x72, 0x00, 0xbb, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
0x33, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2b, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
0x5f, 0x3a, 0x3a, 0x57, 0x69, 0x72, 0x65, 0x6c, 0x65, 0x73, 0x73, 0x43, 0x6f, 0x6e, 0x74, 0x72,
0x6f, 0x6c, 0x6c, 0x65, 0x72, 0x5f, 0x00, 0x00, 0x7b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
0x6c, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6c, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
0x72, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x72, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x13, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x06, 0x00, 0x05, 0x00, 0x00, 0x00,
0x6b, 0x65, 0x79, 0x73, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0xf2, 0xe9, 0x68, 0x6f, 0xe7, 0x6f, 0x7b, 0x08, 0xf9, 0x2c, 0xb2, 0x49, 0x43, 0xac, 0x72, 0xf1,
0xd8, 0xdc, 0x69, 0xff, 0xf5, 0xd7, 0x59, 0x61, 0xcd, 0x0e, 0x3f, 0xc0, 0x49, 0xcb, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::WirelessController_>::type_info_blob() {
static const uint8_t blob[] = {
0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0xd8, 0xdc, 0x69, 0xff, 0xf5, 0xd7, 0x59, 0x61, 0xcd, 0x0e, 0x3f,
0xc0, 0x49, 0xcb, 0x00, 0x67, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf2, 0xe9, 0x68, 0x6f, 0xe7, 0x6f, 0x7b, 0x08, 0xf9, 0x2c, 0xb2, 0x49,
0x43, 0xac, 0x72, 0x00, 0xbf, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
0x00, 0x00, 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_go::msg::dds_::WirelessController_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::WirelessController_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::WirelessController_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::WirelessController_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::unitree_go::msg::dds_::WirelessController_& 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 (!write(streamer, instance.lx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.ly()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.rx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.ry()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.keys()))
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_go::msg::dds_::WirelessController_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>();
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_go::msg::dds_::WirelessController_& 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 (!read(streamer, instance.lx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.ly()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.rx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.ry()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.keys()))
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_go::msg::dds_::WirelessController_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>();
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_go::msg::dds_::WirelessController_& 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 (!move(streamer, instance.lx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.ly()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.rx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.ry()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.keys()))
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_go::msg::dds_::WirelessController_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>();
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_go::msg::dds_::WirelessController_& 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 (!max(streamer, instance.lx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.ly()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.rx()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.ry()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.keys()))
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_go::msg::dds_::WirelessController_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::WirelessController_>();
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_GO2_WIRELESSCONTROLLER__HPP