init
This commit is contained in:
545
unitree_SDK/include/unitree/idl/hg_doubleimu/doubleIMUState_.hpp
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545
unitree_SDK/include/unitree/idl/hg_doubleimu/doubleIMUState_.hpp
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/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: doubleIMUState_.idl
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Source: doubleIMUState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_UNITREE_IDL_HG_DOUBLEIMU_DOUBLEIMUSTATE__HPP
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#define DDSCXX_UNITREE_IDL_HG_DOUBLEIMU_DOUBLEIMUSTATE__HPP
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#include <cstdint>
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#include <array>
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namespace unitree_hg_doubleimu
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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 doubleIMUState_
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{
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private:
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std::array<float, 4> quaternion_ = { };
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std::array<float, 3> gyroscope_ = { };
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std::array<float, 3> accelerometer_ = { };
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std::array<float, 3> rpy_ = { };
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int16_t temperature_ = 0;
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uint32_t tick_ = 0;
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public:
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doubleIMUState_() = default;
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explicit doubleIMUState_(
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const std::array<float, 4>& quaternion,
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const std::array<float, 3>& gyroscope,
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const std::array<float, 3>& accelerometer,
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const std::array<float, 3>& rpy,
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int16_t temperature,
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uint32_t tick) :
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quaternion_(quaternion),
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gyroscope_(gyroscope),
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accelerometer_(accelerometer),
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rpy_(rpy),
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temperature_(temperature),
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tick_(tick) { }
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const std::array<float, 4>& quaternion() const { return this->quaternion_; }
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std::array<float, 4>& quaternion() { return this->quaternion_; }
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void quaternion(const std::array<float, 4>& _val_) { this->quaternion_ = _val_; }
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void quaternion(std::array<float, 4>&& _val_) { this->quaternion_ = _val_; }
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const std::array<float, 3>& gyroscope() const { return this->gyroscope_; }
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std::array<float, 3>& gyroscope() { return this->gyroscope_; }
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void gyroscope(const std::array<float, 3>& _val_) { this->gyroscope_ = _val_; }
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void gyroscope(std::array<float, 3>&& _val_) { this->gyroscope_ = _val_; }
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const std::array<float, 3>& accelerometer() const { return this->accelerometer_; }
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std::array<float, 3>& accelerometer() { return this->accelerometer_; }
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void accelerometer(const std::array<float, 3>& _val_) { this->accelerometer_ = _val_; }
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void accelerometer(std::array<float, 3>&& _val_) { this->accelerometer_ = _val_; }
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const std::array<float, 3>& rpy() const { return this->rpy_; }
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std::array<float, 3>& rpy() { return this->rpy_; }
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void rpy(const std::array<float, 3>& _val_) { this->rpy_ = _val_; }
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void rpy(std::array<float, 3>&& _val_) { this->rpy_ = _val_; }
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int16_t temperature() const { return this->temperature_; }
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int16_t& temperature() { return this->temperature_; }
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void temperature(int16_t _val_) { this->temperature_ = _val_; }
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uint32_t tick() const { return this->tick_; }
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uint32_t& tick() { return this->tick_; }
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void tick(uint32_t _val_) { this->tick_ = _val_; }
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bool operator==(const doubleIMUState_& _other) const
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{
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(void) _other;
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return quaternion_ == _other.quaternion_ &&
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gyroscope_ == _other.gyroscope_ &&
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accelerometer_ == _other.accelerometer_ &&
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rpy_ == _other.rpy_ &&
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temperature_ == _other.temperature_ &&
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tick_ == _other.tick_;
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}
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bool operator!=(const doubleIMUState_& _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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||||
#include "dds/topic/TopicTraits.hpp"
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||||
#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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||||
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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_doubleimu::msg::dds_::doubleIMUState_>::getTypeName()
|
||||
{
|
||||
return "unitree_hg_doubleimu::msg::dds_::doubleIMUState_";
|
||||
}
|
||||
|
||||
template <> constexpr bool TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::isKeyless()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::type_map_blob_sz() { return 554; }
|
||||
template<> constexpr unsigned int TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::type_info_blob_sz() { return 100; }
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::type_map_blob() {
|
||||
static const uint8_t blob[] = {
|
||||
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0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00,
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||||
0x0f, 0x1a, 0xc2, 0x5a, 0xa6, 0x45, 0x4a, 0x3f, 0x62, 0x20, };
|
||||
return blob;
|
||||
}
|
||||
template<> inline const uint8_t * TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::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, 0x8b, 0xcc, 0xc5, 0x2b, 0x0f, 0x1a, 0xc2, 0x5a, 0xa6, 0x45, 0x4a,
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0x3f, 0x62, 0x20, 0x00, 0xa7, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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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_hg_doubleimu::msg::dds_::doubleIMUState_>
|
||||
{
|
||||
static std::string value()
|
||||
{
|
||||
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>::getTypeName();
|
||||
}
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
REGISTER_TOPIC_TYPE(::unitree_hg_doubleimu::msg::dds_::doubleIMUState_)
|
||||
|
||||
namespace org{
|
||||
namespace eclipse{
|
||||
namespace cyclonedds{
|
||||
namespace core{
|
||||
namespace cdr{
|
||||
|
||||
template<>
|
||||
propvec &get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>();
|
||||
|
||||
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
||||
bool write(T& streamer, const ::unitree_hg_doubleimu::msg::dds_::doubleIMUState_& 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;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!write(streamer, instance.tick()))
|
||||
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_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>();
|
||||
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_doubleimu::msg::dds_::doubleIMUState_& 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;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!read(streamer, instance.tick()))
|
||||
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_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>();
|
||||
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_doubleimu::msg::dds_::doubleIMUState_& 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;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!move(streamer, instance.tick()))
|
||||
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_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>();
|
||||
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_doubleimu::msg::dds_::doubleIMUState_& 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;
|
||||
case 5:
|
||||
if (!streamer.start_member(*prop))
|
||||
return false;
|
||||
if (!max(streamer, instance.tick()))
|
||||
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_doubleimu::msg::dds_::doubleIMUState_& instance, bool as_key) {
|
||||
auto &props = get_type_props<::unitree_hg_doubleimu::msg::dds_::doubleIMUState_>();
|
||||
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_DOUBLEIMU_DOUBLEIMUSTATE__HPP
|
||||
Reference in New Issue
Block a user