init
This commit is contained in:
509
unitree_SDK/include/unitree/idl/hg/MotorCmd_.hpp
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509
unitree_SDK/include/unitree/idl/hg/MotorCmd_.hpp
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: MotorCmd_.idl
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Source: MotorCmd_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_HG_MOTORCMD__HPP
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#define DDSCXX_UNITREE_IDL_HG_MOTORCMD__HPP
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#include <cstdint>
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namespace unitree_hg
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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 MotorCmd_
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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 tau_ = 0.0f;
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float kp_ = 0.0f;
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float kd_ = 0.0f;
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uint32_t reserve_ = 0;
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public:
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MotorCmd_() = default;
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explicit MotorCmd_(
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uint8_t mode,
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float q,
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float dq,
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float tau,
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float kp,
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float kd,
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uint32_t reserve) :
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mode_(mode),
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q_(q),
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dq_(dq),
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tau_(tau),
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kp_(kp),
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kd_(kd),
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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 tau() const { return this->tau_; }
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float& tau() { return this->tau_; }
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void tau(float _val_) { this->tau_ = _val_; }
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float kp() const { return this->kp_; }
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float& kp() { return this->kp_; }
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void kp(float _val_) { this->kp_ = _val_; }
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float kd() const { return this->kd_; }
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float& kd() { return this->kd_; }
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void kd(float _val_) { this->kd_ = _val_; }
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uint32_t reserve() const { return this->reserve_; }
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uint32_t& reserve() { return this->reserve_; }
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void reserve(uint32_t _val_) { this->reserve_ = _val_; }
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bool operator==(const MotorCmd_& _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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tau_ == _other.tau_ &&
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kp_ == _other.kp_ &&
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kd_ == _other.kd_ &&
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reserve_ == _other.reserve_;
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}
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bool operator!=(const MotorCmd_& _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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#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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template <> constexpr const char* TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::getTypeName()
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||||
{
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||||
return "unitree_hg::msg::dds_::MotorCmd_";
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||||
}
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||||
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||||
template <> constexpr bool TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::isKeyless()
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||||
{
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||||
return true;
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||||
}
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||||
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||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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||||
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::type_map_blob_sz() { return 454; }
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::type_info_blob_sz() { return 100; }
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
0x9b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3,
|
||||
0x8c, 0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, 0x00, 0x83, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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||||
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x73, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00,
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0x03, 0x00, 0x00, 0x00, 0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00,
|
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0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00,
|
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0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x07, 0x00,
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||||
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||||
0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56,
|
||||
0xe2, 0xa6, 0x07, 0x61, 0x3a, 0x13, 0xf1, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c,
|
||||
0x62, 0xba, 0xcd, 0x1e, 0x56, 0xc9, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg::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,
|
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0x14, 0x00, 0x00, 0x00, 0xf1, 0x82, 0x7f, 0x55, 0xde, 0x9b, 0x9d, 0xe3, 0x8c, 0x62, 0xba, 0xcd,
|
||||
0x1e, 0x56, 0xc9, 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, 0xa2, 0xd9, 0xce, 0xd5, 0x0a, 0x79, 0x56, 0xe2, 0xa6, 0x07, 0x61,
|
||||
0x3a, 0x13, 0xf1, 0x00, 0xe6, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x00, 0x00, };
|
||||
return blob;
|
||||
}
|
||||
#endif //DDSCXX_HAS_TYPE_DISCOVERY
|
||||
|
||||
} //namespace topic
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||||
} //namespace cyclonedds
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||||
} //namespace eclipse
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} //namespace org
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||||
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namespace dds {
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||||
namespace topic {
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||||
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||||
template <>
|
||||
struct topic_type_name<::unitree_hg::msg::dds_::MotorCmd_>
|
||||
{
|
||||
static std::string value()
|
||||
{
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||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg::msg::dds_::MotorCmd_>::getTypeName();
|
||||
}
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||||
};
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||||
|
||||
}
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||||
}
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||||
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||||
REGISTER_TOPIC_TYPE(::unitree_hg::msg::dds_::MotorCmd_)
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||||
namespace org{
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||||
namespace eclipse{
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||||
namespace cyclonedds{
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||||
namespace core{
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||||
namespace cdr{
|
||||
|
||||
template<>
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||||
propvec &get_type_props<::unitree_hg::msg::dds_::MotorCmd_>();
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||||
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||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
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||||
bool write(T& streamer, const ::unitree_hg::msg::dds_::MotorCmd_& instance, entity_properties_t *props) {
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||||
(void)instance;
|
||||
if (!streamer.start_struct(*props))
|
||||
return false;
|
||||
auto prop = streamer.first_entity(props);
|
||||
while (prop) {
|
||||
switch (prop->m_id) {
|
||||
case 0:
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||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.mode()))
|
||||
return false;
|
||||
if (!streamer.finish_member(*prop))
|
||||
return false;
|
||||
break;
|
||||
case 1:
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||||
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 (!write(streamer, instance.reserve()))
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::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_hg::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 (!read(streamer, instance.reserve()))
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::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_hg::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 (!move(streamer, instance.reserve()))
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::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_hg::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 (!max(streamer, instance.reserve()))
|
||||
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_::MotorCmd_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg::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_HG_MOTORCMD__HPP
|
||||
Reference in New Issue
Block a user