Go2Py_SIM/cpp_bridge/include/unitree/idl/go2/IMUState_.hpp

/****************************************************************

  Generated by Eclipse Cyclone DDS IDL to CXX Translator
  File name: IMUState_.idl
  Source: IMUState_.hpp
  Cyclone DDS: v0.10.2

*****************************************************************/
#ifndef DDSCXX_IMUSTATE__HPP
#define DDSCXX_IMUSTATE__HPP

#include <cstdint>
#include <array>

namespace unitree_go
{
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_ = { };
 uint8_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,
    uint8_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_; }
  uint8_t temperature() const { return this->temperature_; }
  uint8_t& temperature() { return this->temperature_; }
  void temperature(uint8_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_go::msg::dds_::IMUState_>::getTypeName()
{
  return "unitree_go::msg::dds_::IMUState_";
}

template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::IMUState_>::isKeyless()
{
  return true;
}

#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob_sz() { return 498; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_info_blob_sz() { return 100; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob() {
  static const uint8_t blob[] = {
 0xab,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf1,  0x4b,  0x1b,  0xf4,  0xaf,  0x32,  0xe5,  0xbc, 
 0x67,  0x10,  0xef,  0xc8,  0x29,  0x31,  0x15,  0x00,  0x93,  0x00,  0x00,  0x00,  0xf1,  0x51,  0x01,  0x00, 
 0x01,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x83,  0x00,  0x00,  0x00,  0x05,  0x00,  0x00,  0x00, 
 0x16,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
 0x01,  0x00,  0x00,  0x00,  0x04,  0x09,  0x75,  0xb9,  0xaa,  0xa0,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00, 
 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
 0x03,  0x09,  0x6b,  0x3b,  0x2d,  0x85,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00, 
 0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0x0e,  0x12, 
 0x75,  0x69,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0xb0,  0x7d,  0x92,  0xed,  0x00,  0x00, 
 0x0b,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x02,  0xee,  0xf4,  0x38,  0xf7,  0x00, 
 0x16,  0x01,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf2,  0xc4,  0xec,  0xb4,  0x9c,  0xd7,  0xb2,  0x25, 
 0xd2,  0x26,  0x28,  0xb6,  0xb7,  0x64,  0xcc,  0x00,  0xfe,  0x00,  0x00,  0x00,  0xf2,  0x51,  0x01,  0x00, 
 0x29,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x21,  0x00,  0x00,  0x00,  0x75,  0x6e,  0x69,  0x74, 
 0x72,  0x65,  0x65,  0x5f,  0x67,  0x6f,  0x3a,  0x3a,  0x6d,  0x73,  0x67,  0x3a,  0x3a,  0x64,  0x64,  0x73, 
 0x5f,  0x3a,  0x3a,  0x49,  0x4d,  0x55,  0x53,  0x74,  0x61,  0x74,  0x65,  0x5f,  0x00,  0x00,  0x00,  0x00, 
 0xc6,  0x00,  0x00,  0x00,  0x05,  0x00,  0x00,  0x00,  0x25,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00, 
 0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x04,  0x09,  0x00,  0x00, 
 0x0b,  0x00,  0x00,  0x00,  0x71,  0x75,  0x61,  0x74,  0x65,  0x72,  0x6e,  0x69,  0x6f,  0x6e,  0x00,  0x00, 
 0x00,  0x00,  0x00,  0x00,  0x24,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0x00,  0x00,  0x0a,  0x00,  0x00,  0x00, 
 0x67,  0x79,  0x72,  0x6f,  0x73,  0x63,  0x6f,  0x70,  0x65,  0x00,  0x00,  0x00,  0x28,  0x00,  0x00,  0x00, 
 0x02,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
 0x03,  0x09,  0x00,  0x00,  0x0e,  0x00,  0x00,  0x00,  0x61,  0x63,  0x63,  0x65,  0x6c,  0x65,  0x72,  0x6f, 
 0x6d,  0x65,  0x74,  0x65,  0x72,  0x00,  0x00,  0x00,  0x1e,  0x00,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00, 
 0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0x00,  0x00, 
 0x04,  0x00,  0x00,  0x00,  0x72,  0x70,  0x79,  0x00,  0x00,  0x00,  0x00,  0x00,  0x1a,  0x00,  0x00,  0x00, 
 0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x02,  0x00,  0x0c,  0x00,  0x00,  0x00,  0x74,  0x65,  0x6d,  0x70, 
 0x65,  0x72,  0x61,  0x74,  0x75,  0x72,  0x65,  0x00,  0x00,  0x00,  0x00,  0x00,  0x22,  0x00,  0x00,  0x00, 
 0x01,  0x00,  0x00,  0x00,  0xf2,  0xc4,  0xec,  0xb4,  0x9c,  0xd7,  0xb2,  0x25,  0xd2,  0x26,  0x28,  0xb6, 
 0xb7,  0x64,  0xcc,  0xf1,  0x4b,  0x1b,  0xf4,  0xaf,  0x32,  0xe5,  0xbc,  0x67,  0x10,  0xef,  0xc8,  0x29, 
 0x31,  0x15, };
  return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::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, 
 0x14,  0x00,  0x00,  0x00,  0xf1,  0x4b,  0x1b,  0xf4,  0xaf,  0x32,  0xe5,  0xbc,  0x67,  0x10,  0xef,  0xc8, 
 0x29,  0x31,  0x15,  0x00,  0x97,  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,  0xc4,  0xec,  0xb4,  0x9c,  0xd7,  0xb2,  0x25,  0xd2,  0x26,  0x28,  0xb6, 
 0xb7,  0x64,  0xcc,  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_go::msg::dds_::IMUState_>
{
    static std::string value()
    {
      return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::IMUState_>::getTypeName();
    }
};

}
}

REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::IMUState_)

namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{

template<>
propvec &get_type_props<::unitree_go::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_go::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_go::msg::dds_::IMUState_& instance, bool as_key) {
  auto &props = get_type_props<::unitree_go::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_go::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_go::msg::dds_::IMUState_& instance, bool as_key) {
  auto &props = get_type_props<::unitree_go::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_go::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_go::msg::dds_::IMUState_& instance, bool as_key) {
  auto &props = get_type_props<::unitree_go::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_go::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_go::msg::dds_::IMUState_& instance, bool as_key) {
  auto &props = get_type_props<::unitree_go::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_IMUSTATE__HPP