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z1_controller/include/message/unitree_legged_msgs/LowState.h

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2022-07-20 11:11:38 +08:00
// Generated by gencpp from file unitree_legged_msgs/LowState.msg
// DO NOT EDIT!
#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H
#define UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H
#include <string>
#include <vector>
#include <map>
#include <ros/types.h>
#include <ros/serialization.h>
#include <ros/builtin_message_traits.h>
#include <ros/message_operations.h>
#include <unitree_legged_msgs/IMU.h>
#include <unitree_legged_msgs/MotorState.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
#include <unitree_legged_msgs/Cartesian.h>
namespace unitree_legged_msgs
{
template <class ContainerAllocator>
struct LowState_
{
typedef LowState_<ContainerAllocator> Type;
LowState_()
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, imu()
, motorState()
, footForce()
, footForceEst()
, tick(0)
, wirelessRemote()
, reserve(0)
, crc(0)
, eeForceRaw()
, eeForce()
, position()
, velocity()
, velocity_w() {
footForce.assign(0);
footForceEst.assign(0);
wirelessRemote.assign(0);
}
LowState_(const ContainerAllocator& _alloc)
: levelFlag(0)
, commVersion(0)
, robotID(0)
, SN(0)
, bandWidth(0)
, imu(_alloc)
, motorState()
, footForce()
, footForceEst()
, tick(0)
, wirelessRemote()
, reserve(0)
, crc(0)
, eeForceRaw()
, eeForce()
, position(_alloc)
, velocity(_alloc)
, velocity_w(_alloc) {
(void)_alloc;
motorState.assign( ::unitree_legged_msgs::MotorState_<ContainerAllocator> (_alloc));
footForce.assign(0);
footForceEst.assign(0);
wirelessRemote.assign(0);
eeForceRaw.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
eeForce.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
}
typedef uint8_t _levelFlag_type;
_levelFlag_type levelFlag;
typedef uint16_t _commVersion_type;
_commVersion_type commVersion;
typedef uint16_t _robotID_type;
_robotID_type robotID;
typedef uint32_t _SN_type;
_SN_type SN;
typedef uint8_t _bandWidth_type;
_bandWidth_type bandWidth;
typedef ::unitree_legged_msgs::IMU_<ContainerAllocator> _imu_type;
_imu_type imu;
typedef boost::array< ::unitree_legged_msgs::MotorState_<ContainerAllocator> , 20> _motorState_type;
_motorState_type motorState;
typedef boost::array<int16_t, 4> _footForce_type;
_footForce_type footForce;
typedef boost::array<int16_t, 4> _footForceEst_type;
_footForceEst_type footForceEst;
typedef uint32_t _tick_type;
_tick_type tick;
typedef boost::array<uint8_t, 40> _wirelessRemote_type;
_wirelessRemote_type wirelessRemote;
typedef uint32_t _reserve_type;
_reserve_type reserve;
typedef uint32_t _crc_type;
_crc_type crc;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _eeForceRaw_type;
_eeForceRaw_type eeForceRaw;
typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _eeForce_type;
_eeForce_type eeForce;
typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _position_type;
_position_type position;
typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _velocity_type;
_velocity_type velocity;
typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _velocity_w_type;
_velocity_w_type velocity_w;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_<ContainerAllocator> const> ConstPtr;
}; // struct LowState_
typedef ::unitree_legged_msgs::LowState_<std::allocator<void> > LowState;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState > LowStatePtr;
typedef boost::shared_ptr< ::unitree_legged_msgs::LowState const> LowStateConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::LowState_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::unitree_legged_msgs::LowState_<ContainerAllocator> >::stream(s, "", v);
return s;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::unitree_legged_msgs::LowState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::LowState_<ContainerAllocator2> & rhs)
{
return lhs.levelFlag == rhs.levelFlag &&
lhs.commVersion == rhs.commVersion &&
lhs.robotID == rhs.robotID &&
lhs.SN == rhs.SN &&
lhs.bandWidth == rhs.bandWidth &&
lhs.imu == rhs.imu &&
lhs.motorState == rhs.motorState &&
lhs.footForce == rhs.footForce &&
lhs.footForceEst == rhs.footForceEst &&
lhs.tick == rhs.tick &&
lhs.wirelessRemote == rhs.wirelessRemote &&
lhs.reserve == rhs.reserve &&
lhs.crc == rhs.crc &&
lhs.eeForceRaw == rhs.eeForceRaw &&
lhs.eeForce == rhs.eeForce &&
lhs.position == rhs.position &&
lhs.velocity == rhs.velocity &&
lhs.velocity_w == rhs.velocity_w;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::unitree_legged_msgs::LowState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::LowState_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace unitree_legged_msgs
namespace ros
{
namespace message_traits
{
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::unitree_legged_msgs::LowState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::unitree_legged_msgs::LowState_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::unitree_legged_msgs::LowState_<ContainerAllocator> const>
: FalseType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
static const char* value()
{
return "cef9d4f6b5a89bd6330896affb1bca88";
}
static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0xcef9d4f6b5a89bd6ULL;
static const uint64_t static_value2 = 0x330896affb1bca88ULL;
};
template<class ContainerAllocator>
struct DataType< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
static const char* value()
{
return "unitree_legged_msgs/LowState";
}
static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
static const char* value()
{
return "uint8 levelFlag\n"
"uint16 commVersion # Old version Aliengo does not have\n"
"uint16 robotID # Old version Aliengo does not have\n"
"uint32 SN # Old version Aliengo does not have\n"
"uint8 bandWidth # Old version Aliengo does not have\n"
"IMU imu\n"
"MotorState[20] motorState\n"
"int16[4] footForce # force sensors # Old version Aliengo is different\n"
"int16[4] footForceEst # force sensors # Old version Aliengo does not have\n"
"uint32 tick # reference real-time from motion controller (unit: us)\n"
"uint8[40] wirelessRemote # wireless commands\n"
"uint32 reserve # Old version Aliengo does not have\n"
"uint32 crc\n"
"\n"
"# Old version Aliengo does not have:\n"
"Cartesian[4] eeForceRaw\n"
"Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization \n"
"Cartesian position # will delete\n"
"Cartesian velocity # will delete\n"
"Cartesian velocity_w # will delete\n"
"\n"
"================================================================================\n"
"MSG: unitree_legged_msgs/IMU\n"
"float32[4] quaternion\n"
"float32[3] gyroscope\n"
"float32[3] accelerometer\n"
"int8 temperature\n"
"================================================================================\n"
"MSG: unitree_legged_msgs/MotorState\n"
"uint8 mode # motor current mode \n"
"float32 q # motor current position（rad）\n"
"float32 dq # motor current speed（rad/s）\n"
"float32 ddq # motor current speed（rad/s）\n"
"float32 tauEst # current estimated output torque（N*m）\n"
"float32 q_raw # motor current position（rad）\n"
"float32 dq_raw # motor current speed（rad/s）\n"
"float32 ddq_raw # motor current speed（rad/s）\n"
"int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n"
"uint32[2] reserve\n"
"================================================================================\n"
"MSG: unitree_legged_msgs/Cartesian\n"
"float32 x\n"
"float32 y\n"
"float32 z\n"
;
}
static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.levelFlag);
stream.next(m.commVersion);
stream.next(m.robotID);
stream.next(m.SN);
stream.next(m.bandWidth);
stream.next(m.imu);
stream.next(m.motorState);
stream.next(m.footForce);
stream.next(m.footForceEst);
stream.next(m.tick);
stream.next(m.wirelessRemote);
stream.next(m.reserve);
stream.next(m.crc);
stream.next(m.eeForceRaw);
stream.next(m.eeForce);
stream.next(m.position);
stream.next(m.velocity);
stream.next(m.velocity_w);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct LowState_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::unitree_legged_msgs::LowState_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::LowState_<ContainerAllocator>& v)
{
s << indent << "levelFlag: ";
Printer<uint8_t>::stream(s, indent + " ", v.levelFlag);
s << indent << "commVersion: ";
Printer<uint16_t>::stream(s, indent + " ", v.commVersion);
s << indent << "robotID: ";
Printer<uint16_t>::stream(s, indent + " ", v.robotID);
s << indent << "SN: ";
Printer<uint32_t>::stream(s, indent + " ", v.SN);
s << indent << "bandWidth: ";
Printer<uint8_t>::stream(s, indent + " ", v.bandWidth);
s << indent << "imu: ";
s << std::endl;
Printer< ::unitree_legged_msgs::IMU_<ContainerAllocator> >::stream(s, indent + " ", v.imu);
s << indent << "motorState[]" << std::endl;
for (size_t i = 0; i < v.motorState.size(); ++i)
{
s << indent << " motorState[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >::stream(s, indent + " ", v.motorState[i]);
}
s << indent << "footForce[]" << std::endl;
for (size_t i = 0; i < v.footForce.size(); ++i)
{
s << indent << " footForce[" << i << "]: ";
Printer<int16_t>::stream(s, indent + " ", v.footForce[i]);
}
s << indent << "footForceEst[]" << std::endl;
for (size_t i = 0; i < v.footForceEst.size(); ++i)
{
s << indent << " footForceEst[" << i << "]: ";
Printer<int16_t>::stream(s, indent + " ", v.footForceEst[i]);
}
s << indent << "tick: ";
Printer<uint32_t>::stream(s, indent + " ", v.tick);
s << indent << "wirelessRemote[]" << std::endl;
for (size_t i = 0; i < v.wirelessRemote.size(); ++i)
{
s << indent << " wirelessRemote[" << i << "]: ";
Printer<uint8_t>::stream(s, indent + " ", v.wirelessRemote[i]);
}
s << indent << "reserve: ";
Printer<uint32_t>::stream(s, indent + " ", v.reserve);
s << indent << "crc: ";
Printer<uint32_t>::stream(s, indent + " ", v.crc);
s << indent << "eeForceRaw[]" << std::endl;
for (size_t i = 0; i < v.eeForceRaw.size(); ++i)
{
s << indent << " eeForceRaw[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.eeForceRaw[i]);
}
s << indent << "eeForce[]" << std::endl;
for (size_t i = 0; i < v.eeForce.size(); ++i)
{
s << indent << " eeForce[" << i << "]: ";
s << std::endl;
s << indent;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.eeForce[i]);
}
s << indent << "position: ";
s << std::endl;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.position);
s << indent << "velocity: ";
s << std::endl;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.velocity);
s << indent << "velocity_w: ";
s << std::endl;
Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.velocity_w);
}
};
} // namespace message_operations
} // namespace ros
#endif // UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H