529 lines
18 KiB
C++
529 lines
18 KiB
C++
/****************************************************************
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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_MOTORCMD__HPP
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#define DDSCXX_MOTORCMD__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 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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std::array<uint32_t, 3> reserve_ = { };
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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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const std::array<uint32_t, 3>& 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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const std::array<uint32_t, 3>& reserve() const { return this->reserve_; }
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std::array<uint32_t, 3>& reserve() { return this->reserve_; }
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void reserve(const std::array<uint32_t, 3>& _val_) { this->reserve_ = _val_; }
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void reserve(std::array<uint32_t, 3>&& _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_go::msg::dds_::MotorCmd_>::getTypeName()
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{
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return "unitree_go::msg::dds_::MotorCmd_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob_sz() { return 478; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_map_blob() {
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static const uint8_t blob[] = {
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0xa6, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17,
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0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, 0x00, 0x8e, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x7e, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x15, 0xd6, 0x17, 0x12, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x76, 0x94, 0xf4, 0xa6, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x47, 0xbc, 0xdc, 0xd7, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x45, 0x80, 0xc2, 0x74, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x26, 0xb5, 0x68, 0xe4, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x87, 0x22, 0x16, 0x52, 0x00,
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0x16, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x9c, 0x3b, 0x62, 0x94, 0x00, 0x00, 0x06, 0x01, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff,
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0x16, 0x30, 0x3b, 0x00, 0xee, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00, 0x29, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74, 0x72, 0x65, 0x65, 0x5f,
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0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73, 0x5f, 0x3a, 0x3a, 0x4d,
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0x6f, 0x74, 0x6f, 0x72, 0x43, 0x6d, 0x64, 0x5f, 0x00, 0x00, 0x00, 0x00, 0xb6, 0x00, 0x00, 0x00,
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0x07, 0x00, 0x00, 0x00, 0x13, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00,
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0x05, 0x00, 0x00, 0x00, 0x6d, 0x6f, 0x64, 0x65, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x02, 0x00, 0x00, 0x00, 0x71, 0x00, 0x00, 0x00,
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0x11, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
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0x64, 0x71, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x09, 0x00, 0x04, 0x00, 0x00, 0x00, 0x74, 0x61, 0x75, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x11, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00,
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0x6b, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x09, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6b, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x22, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x03, 0x07, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x72, 0x65, 0x73, 0x65,
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0x72, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff, 0x16, 0x30, 0x3b, 0xf1,
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0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d, 0xfa, 0x02, 0xff, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::MotorCmd_>::type_info_blob() {
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static const uint8_t blob[] = {
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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, 0xc8, 0xe5, 0x83, 0x5b, 0x0f, 0x0c, 0x17, 0x65, 0xbc, 0x23, 0x1d,
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0xfa, 0x02, 0xff, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
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0x14, 0x00, 0x00, 0x00, 0xf2, 0x42, 0x1f, 0xa5, 0xb2, 0xdb, 0x2d, 0xef, 0xf5, 0xc0, 0x3f, 0xff,
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0x16, 0x30, 0x3b, 0x00, 0xf2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, };
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return blob;
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}
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#endif //DDSCXX_HAS_TYPE_DISCOVERY
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} //namespace topic
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} //namespace cyclonedds
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} //namespace eclipse
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} //namespace org
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namespace dds {
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namespace topic {
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template <>
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struct topic_type_name<::unitree_go::msg::dds_::MotorCmd_>
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{
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static std::string value()
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{
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return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::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_go::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{
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template<>
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propvec &get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
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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_go::msg::dds_::MotorCmd_& instance, entity_properties_t *props) {
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(void)instance;
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if (!streamer.start_struct(*props))
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return false;
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auto prop = streamer.first_entity(props);
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while (prop) {
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switch (prop->m_id) {
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case 0:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.mode()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.q()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 2:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.dq()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 3:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.tau()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 4:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.kp()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 5:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.kd()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 6:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.reserve()[0], instance.reserve().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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}
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prop = streamer.next_entity(prop);
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}
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return streamer.finish_struct(*props);
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}
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template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
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bool write(S& str, const ::unitree_go::msg::dds_::MotorCmd_& instance, bool as_key) {
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auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
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str.set_mode(cdr_stream::stream_mode::write, as_key);
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return write(str, instance, props.data());
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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 read(T& streamer, ::unitree_go::msg::dds_::MotorCmd_& instance, entity_properties_t *props) {
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(void)instance;
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if (!streamer.start_struct(*props))
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return false;
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auto prop = streamer.first_entity(props);
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while (prop) {
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switch (prop->m_id) {
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case 0:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.mode()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.q()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 2:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.dq()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 3:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.tau()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 4:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.kp()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 5:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.kd()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 6:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.reserve()[0], instance.reserve().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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}
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prop = streamer.next_entity(prop);
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}
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return streamer.finish_struct(*props);
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}
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template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
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bool read(S& str, ::unitree_go::msg::dds_::MotorCmd_& instance, bool as_key) {
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auto &props = get_type_props<::unitree_go::msg::dds_::MotorCmd_>();
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str.set_mode(cdr_stream::stream_mode::read, as_key);
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return read(str, instance, props.data());
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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 move(T& streamer, const ::unitree_go::msg::dds_::MotorCmd_& instance, entity_properties_t *props) {
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(void)instance;
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if (!streamer.start_struct(*props))
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return false;
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auto prop = streamer.first_entity(props);
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while (prop) {
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switch (prop->m_id) {
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case 0:
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if (!streamer.start_member(*prop))
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return false;
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if (!move(streamer, instance.mode()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!move(streamer, instance.q()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 2:
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if (!streamer.start_member(*prop))
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return false;
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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 (!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_::MotorCmd_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::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_go::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 (!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_::MotorCmd_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::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_MOTORCMD__HPP
|