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2025-09-24 10:53:28 +08:00
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unitree_SDK/include/unitree/idl/ros2/PoseWithCovariance_.hpp Normal file
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/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: PoseWithCovariance_.idl
Source: PoseWithCovariance_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_ROS2_POSEWITHCOVARIANCE__HPP
#define DDSCXX_UNITREE_IDL_ROS2_POSEWITHCOVARIANCE__HPP
#include "unitree/idl/ros2/Pose_.hpp"
#include <array>
namespace geometry_msgs
{
namespace msg
{
namespace dds_
{
class PoseWithCovariance_
{
private:
::geometry_msgs::msg::dds_::Pose_ pose_;
std::array<double, 36> covariance_ = { };
public:
PoseWithCovariance_() = default;
explicit PoseWithCovariance_(
const ::geometry_msgs::msg::dds_::Pose_& pose,
const std::array<double, 36>& covariance) :
pose_(pose),
covariance_(covariance) { }
const ::geometry_msgs::msg::dds_::Pose_& pose() const { return this->pose_; }
::geometry_msgs::msg::dds_::Pose_& pose() { return this->pose_; }
void pose(const ::geometry_msgs::msg::dds_::Pose_& _val_) { this->pose_ = _val_; }
void pose(::geometry_msgs::msg::dds_::Pose_&& _val_) { this->pose_ = _val_; }
const std::array<double, 36>& covariance() const { return this->covariance_; }
std::array<double, 36>& covariance() { return this->covariance_; }
void covariance(const std::array<double, 36>& _val_) { this->covariance_ = _val_; }
void covariance(std::array<double, 36>&& _val_) { this->covariance_ = _val_; }
bool operator==(const PoseWithCovariance_& _other) const
{
(void) _other;
return pose_ == _other.pose_ &&
covariance_ == _other.covariance_;
}
bool operator!=(const PoseWithCovariance_& _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<::geometry_msgs::msg::dds_::PoseWithCovariance_>::getTypeName()
{
return "geometry_msgs::msg::dds_::PoseWithCovariance_";
}
template <> constexpr bool TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::type_map_blob_sz() { return 1180; }
template<> constexpr unsigned int TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::type_info_blob_sz() { return 244; }
template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::type_map_blob() {
static const uint8_t blob[] = {
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return blob;
}
template<> inline const uint8_t * TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::type_info_blob() {
static const uint8_t blob[] = {
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0x94, 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<::geometry_msgs::msg::dds_::PoseWithCovariance_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::geometry_msgs::msg::dds_::PoseWithCovariance_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::geometry_msgs::msg::dds_::PoseWithCovariance_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>();
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
bool write(T& streamer, const ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop))
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.covariance()[0], instance.covariance().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 ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) {
auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>();
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, ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop))
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.covariance()[0], instance.covariance().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, ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) {
auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>();
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 ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop))
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.covariance()[0], instance.covariance().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 ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) {
auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>();
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 ::geometry_msgs::msg::dds_::PoseWithCovariance_& 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.pose(), prop))
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.covariance()[0], instance.covariance().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 ::geometry_msgs::msg::dds_::PoseWithCovariance_& instance, bool as_key) {
auto &props = get_type_props<::geometry_msgs::msg::dds_::PoseWithCovariance_>();
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_ROS2_POSEWITHCOVARIANCE__HPP