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unitree_SDK/include/unitree/idl/hg/IMUState_.hpp Normal file
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/****************************************************************
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_HG_IMUSTATE__HPP
#define DDSCXX_UNITREE_IDL_HG_IMUSTATE__HPP
#include <cstdint>
#include <array>
namespace unitree_hg
{
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_ = { };
int16_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,
int16_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_; }
int16_t temperature() const { return this->temperature_; }
int16_t& temperature() { return this->temperature_; }
void temperature(int16_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_hg::msg::dds_::IMUState_>::getTypeName()
{
return "unitree_hg::msg::dds_::IMUState_";
}
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::IMUState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::IMUState_>::type_map_blob_sz() { return 498; }
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::IMUState_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::IMUState_>::type_map_blob() {
static const uint8_t blob[] = {
0xab, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xfc, 0x68, 0x71, 0x76, 0x65, 0x12, 0x06,
0x55, 0x84, 0x73, 0xdf, 0x44, 0x22, 0x80, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x22, 0x80, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_hg::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,
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0x14, 0x00, 0x00, 0x00, 0xf2, 0x7d, 0x41, 0x66, 0x75, 0x41, 0x77, 0xd8, 0x6f, 0xa2, 0x7c, 0xd2,
0x5b, 0x04, 0x03, 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_hg::msg::dds_::IMUState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::IMUState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::IMUState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_hg::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_hg::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_hg::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::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_hg::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_hg::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::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_hg::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_hg::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::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_hg::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_hg::msg::dds_::IMUState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_hg::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_HG_IMUSTATE__HPP