init
This commit is contained in:
696
unitree_SDK/include/unitree/idl/go2/MotorState_.hpp
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696
unitree_SDK/include/unitree/idl/go2/MotorState_.hpp
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: MotorState_.idl
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Source: MotorState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_GO2_MOTORSTATE__HPP
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#define DDSCXX_UNITREE_IDL_GO2_MOTORSTATE__HPP
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#include <cstdint>
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#include <array>
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namespace unitree_go
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{
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namespace msg
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{
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namespace dds_
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{
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class MotorState_
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{
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private:
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uint8_t mode_ = 0;
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float q_ = 0.0f;
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float dq_ = 0.0f;
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float ddq_ = 0.0f;
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float tau_est_ = 0.0f;
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float q_raw_ = 0.0f;
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float dq_raw_ = 0.0f;
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float ddq_raw_ = 0.0f;
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uint8_t temperature_ = 0;
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uint32_t lost_ = 0;
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std::array<uint32_t, 2> reserve_ = { };
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public:
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MotorState_() = default;
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explicit MotorState_(
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uint8_t mode,
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float q,
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float dq,
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float ddq,
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float tau_est,
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float q_raw,
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float dq_raw,
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float ddq_raw,
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uint8_t temperature,
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uint32_t lost,
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const std::array<uint32_t, 2>& reserve) :
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mode_(mode),
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q_(q),
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dq_(dq),
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ddq_(ddq),
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tau_est_(tau_est),
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q_raw_(q_raw),
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dq_raw_(dq_raw),
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ddq_raw_(ddq_raw),
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temperature_(temperature),
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lost_(lost),
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reserve_(reserve) { }
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uint8_t mode() const { return this->mode_; }
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uint8_t& mode() { return this->mode_; }
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void mode(uint8_t _val_) { this->mode_ = _val_; }
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float q() const { return this->q_; }
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float& q() { return this->q_; }
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void q(float _val_) { this->q_ = _val_; }
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float dq() const { return this->dq_; }
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float& dq() { return this->dq_; }
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void dq(float _val_) { this->dq_ = _val_; }
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float ddq() const { return this->ddq_; }
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float& ddq() { return this->ddq_; }
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void ddq(float _val_) { this->ddq_ = _val_; }
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float tau_est() const { return this->tau_est_; }
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float& tau_est() { return this->tau_est_; }
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void tau_est(float _val_) { this->tau_est_ = _val_; }
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float q_raw() const { return this->q_raw_; }
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float& q_raw() { return this->q_raw_; }
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void q_raw(float _val_) { this->q_raw_ = _val_; }
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float dq_raw() const { return this->dq_raw_; }
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float& dq_raw() { return this->dq_raw_; }
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void dq_raw(float _val_) { this->dq_raw_ = _val_; }
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float ddq_raw() const { return this->ddq_raw_; }
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float& ddq_raw() { return this->ddq_raw_; }
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void ddq_raw(float _val_) { this->ddq_raw_ = _val_; }
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uint8_t temperature() const { return this->temperature_; }
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uint8_t& temperature() { return this->temperature_; }
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void temperature(uint8_t _val_) { this->temperature_ = _val_; }
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uint32_t lost() const { return this->lost_; }
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uint32_t& lost() { return this->lost_; }
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void lost(uint32_t _val_) { this->lost_ = _val_; }
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const std::array<uint32_t, 2>& reserve() const { return this->reserve_; }
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||||
std::array<uint32_t, 2>& reserve() { return this->reserve_; }
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void reserve(const std::array<uint32_t, 2>& _val_) { this->reserve_ = _val_; }
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void reserve(std::array<uint32_t, 2>&& _val_) { this->reserve_ = _val_; }
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bool operator==(const MotorState_& _other) const
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{
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(void) _other;
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return mode_ == _other.mode_ &&
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q_ == _other.q_ &&
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dq_ == _other.dq_ &&
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||||
ddq_ == _other.ddq_ &&
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||||
tau_est_ == _other.tau_est_ &&
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||||
q_raw_ == _other.q_raw_ &&
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||||
dq_raw_ == _other.dq_raw_ &&
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||||
ddq_raw_ == _other.ddq_raw_ &&
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temperature_ == _other.temperature_ &&
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||||
lost_ == _other.lost_ &&
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||||
reserve_ == _other.reserve_;
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}
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||||
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bool operator!=(const MotorState_& _other) const
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||||
{
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||||
return !(*this == _other);
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||||
}
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||||
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||||
};
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||||
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||||
}
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||||
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||||
}
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||||
|
||||
}
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||||
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||||
#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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||||
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template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::MotorState_>::getTypeName()
|
||||
{
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||||
return "unitree_go::msg::dds_::MotorState_";
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||||
}
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||||
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||||
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorState_>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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||||
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[] = {
|
||||
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|
||||
0xb1, 0xbe, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorState_>::type_info_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
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|
||||
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
|
||||
Reference in New Issue
Block a user