404 lines
11 KiB
C++
404 lines
11 KiB
C++
// Generated by gencpp from file unitree_legged_msgs/HighCmd.msg
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// DO NOT EDIT!
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#ifndef UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H
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#define UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H
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#include <string>
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#include <vector>
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#include <map>
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#include <ros/types.h>
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#include <ros/serialization.h>
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#include <ros/builtin_message_traits.h>
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#include <ros/message_operations.h>
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#include <unitree_legged_msgs/LED.h>
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namespace unitree_legged_msgs
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{
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template <class ContainerAllocator>
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struct HighCmd_
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{
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typedef HighCmd_<ContainerAllocator> Type;
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HighCmd_()
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: levelFlag(0)
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, commVersion(0)
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, robotID(0)
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, SN(0)
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, bandWidth(0)
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, mode(0)
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, forwardSpeed(0.0)
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, sideSpeed(0.0)
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, rotateSpeed(0.0)
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, bodyHeight(0.0)
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, footRaiseHeight(0.0)
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, yaw(0.0)
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, pitch(0.0)
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, roll(0.0)
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, led()
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, wirelessRemote()
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, AppRemote()
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, reserve(0)
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, crc(0) {
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wirelessRemote.assign(0);
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AppRemote.assign(0);
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}
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HighCmd_(const ContainerAllocator& _alloc)
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: levelFlag(0)
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, commVersion(0)
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, robotID(0)
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, SN(0)
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, bandWidth(0)
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, mode(0)
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, forwardSpeed(0.0)
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, sideSpeed(0.0)
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, rotateSpeed(0.0)
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, bodyHeight(0.0)
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, footRaiseHeight(0.0)
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, yaw(0.0)
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, pitch(0.0)
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, roll(0.0)
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, led()
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, wirelessRemote()
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, AppRemote()
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, reserve(0)
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, crc(0) {
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(void)_alloc;
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led.assign( ::unitree_legged_msgs::LED_<ContainerAllocator> (_alloc));
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wirelessRemote.assign(0);
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AppRemote.assign(0);
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}
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typedef uint8_t _levelFlag_type;
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_levelFlag_type levelFlag;
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typedef uint16_t _commVersion_type;
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_commVersion_type commVersion;
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typedef uint16_t _robotID_type;
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_robotID_type robotID;
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typedef uint32_t _SN_type;
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_SN_type SN;
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typedef uint8_t _bandWidth_type;
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_bandWidth_type bandWidth;
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typedef uint8_t _mode_type;
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_mode_type mode;
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typedef float _forwardSpeed_type;
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_forwardSpeed_type forwardSpeed;
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typedef float _sideSpeed_type;
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_sideSpeed_type sideSpeed;
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typedef float _rotateSpeed_type;
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_rotateSpeed_type rotateSpeed;
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typedef float _bodyHeight_type;
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_bodyHeight_type bodyHeight;
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typedef float _footRaiseHeight_type;
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_footRaiseHeight_type footRaiseHeight;
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typedef float _yaw_type;
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_yaw_type yaw;
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typedef float _pitch_type;
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_pitch_type pitch;
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typedef float _roll_type;
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_roll_type roll;
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typedef boost::array< ::unitree_legged_msgs::LED_<ContainerAllocator> , 4> _led_type;
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_led_type led;
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typedef boost::array<uint8_t, 40> _wirelessRemote_type;
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_wirelessRemote_type wirelessRemote;
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typedef boost::array<uint8_t, 40> _AppRemote_type;
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_AppRemote_type AppRemote;
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typedef uint32_t _reserve_type;
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_reserve_type reserve;
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typedef int32_t _crc_type;
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_crc_type crc;
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typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> > Ptr;
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typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const> ConstPtr;
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}; // struct HighCmd_
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typedef ::unitree_legged_msgs::HighCmd_<std::allocator<void> > HighCmd;
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typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd > HighCmdPtr;
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typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd const> HighCmdConstPtr;
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// constants requiring out of line definition
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template<typename ContainerAllocator>
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std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::HighCmd_<ContainerAllocator> & v)
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{
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ros::message_operations::Printer< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >::stream(s, "", v);
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return s;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator==(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::HighCmd_<ContainerAllocator2> & rhs)
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{
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return lhs.levelFlag == rhs.levelFlag &&
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lhs.commVersion == rhs.commVersion &&
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lhs.robotID == rhs.robotID &&
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lhs.SN == rhs.SN &&
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lhs.bandWidth == rhs.bandWidth &&
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lhs.mode == rhs.mode &&
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lhs.forwardSpeed == rhs.forwardSpeed &&
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lhs.sideSpeed == rhs.sideSpeed &&
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lhs.rotateSpeed == rhs.rotateSpeed &&
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lhs.bodyHeight == rhs.bodyHeight &&
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lhs.footRaiseHeight == rhs.footRaiseHeight &&
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lhs.yaw == rhs.yaw &&
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lhs.pitch == rhs.pitch &&
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lhs.roll == rhs.roll &&
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lhs.led == rhs.led &&
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lhs.wirelessRemote == rhs.wirelessRemote &&
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lhs.AppRemote == rhs.AppRemote &&
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lhs.reserve == rhs.reserve &&
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lhs.crc == rhs.crc;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator!=(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::HighCmd_<ContainerAllocator2> & rhs)
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{
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return !(lhs == rhs);
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}
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} // namespace unitree_legged_msgs
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namespace ros
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{
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namespace message_traits
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{
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template <class ContainerAllocator>
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struct IsFixedSize< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct IsFixedSize< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const>
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct IsMessage< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct IsMessage< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const>
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: TrueType
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{ };
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template <class ContainerAllocator>
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struct HasHeader< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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: FalseType
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{ };
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template <class ContainerAllocator>
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struct HasHeader< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> const>
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: FalseType
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{ };
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template<class ContainerAllocator>
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struct MD5Sum< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "1a655499a3f64905db59ceed65ca774a";
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}
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static const char* value(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>&) { return value(); }
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static const uint64_t static_value1 = 0x1a655499a3f64905ULL;
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static const uint64_t static_value2 = 0xdb59ceed65ca774aULL;
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};
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template<class ContainerAllocator>
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struct DataType< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "unitree_legged_msgs/HighCmd";
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}
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static const char* value(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>&) { return value(); }
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};
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template<class ContainerAllocator>
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struct Definition< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "uint8 levelFlag\n"
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"uint16 commVersion # Old version Aliengo does not have\n"
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"uint16 robotID # Old version Aliengo does not have\n"
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"uint32 SN # Old version Aliengo does not have\n"
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"uint8 bandWidth # Old version Aliengo does not have\n"
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"uint8 mode\n"
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"float32 forwardSpeed\n"
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"float32 sideSpeed\n"
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"float32 rotateSpeed \n"
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"float32 bodyHeight\n"
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"float32 footRaiseHeight\n"
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"float32 yaw\n"
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"float32 pitch\n"
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"float32 roll\n"
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"LED[4] led\n"
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"uint8[40] wirelessRemote\n"
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"uint8[40] AppRemote # Old version Aliengo does not have\n"
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"uint32 reserve # Old version Aliengo does not have\n"
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"int32 crc\n"
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"================================================================================\n"
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"MSG: unitree_legged_msgs/LED\n"
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"uint8 r\n"
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"uint8 g\n"
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"uint8 b\n"
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;
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}
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static const char* value(const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>&) { return value(); }
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};
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} // namespace message_traits
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} // namespace ros
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namespace ros
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{
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namespace serialization
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{
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template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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{
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template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
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{
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stream.next(m.levelFlag);
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stream.next(m.commVersion);
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stream.next(m.robotID);
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stream.next(m.SN);
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stream.next(m.bandWidth);
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stream.next(m.mode);
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stream.next(m.forwardSpeed);
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stream.next(m.sideSpeed);
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stream.next(m.rotateSpeed);
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stream.next(m.bodyHeight);
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stream.next(m.footRaiseHeight);
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stream.next(m.yaw);
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stream.next(m.pitch);
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stream.next(m.roll);
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stream.next(m.led);
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stream.next(m.wirelessRemote);
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stream.next(m.AppRemote);
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stream.next(m.reserve);
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stream.next(m.crc);
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}
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ROS_DECLARE_ALLINONE_SERIALIZER
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}; // struct HighCmd_
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} // namespace serialization
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} // namespace ros
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namespace ros
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{
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namespace message_operations
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{
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template<class ContainerAllocator>
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struct Printer< ::unitree_legged_msgs::HighCmd_<ContainerAllocator> >
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{
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template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::HighCmd_<ContainerAllocator>& v)
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{
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s << indent << "levelFlag: ";
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Printer<uint8_t>::stream(s, indent + " ", v.levelFlag);
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s << indent << "commVersion: ";
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Printer<uint16_t>::stream(s, indent + " ", v.commVersion);
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s << indent << "robotID: ";
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Printer<uint16_t>::stream(s, indent + " ", v.robotID);
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s << indent << "SN: ";
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Printer<uint32_t>::stream(s, indent + " ", v.SN);
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s << indent << "bandWidth: ";
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Printer<uint8_t>::stream(s, indent + " ", v.bandWidth);
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s << indent << "mode: ";
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Printer<uint8_t>::stream(s, indent + " ", v.mode);
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s << indent << "forwardSpeed: ";
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Printer<float>::stream(s, indent + " ", v.forwardSpeed);
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s << indent << "sideSpeed: ";
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Printer<float>::stream(s, indent + " ", v.sideSpeed);
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s << indent << "rotateSpeed: ";
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Printer<float>::stream(s, indent + " ", v.rotateSpeed);
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s << indent << "bodyHeight: ";
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Printer<float>::stream(s, indent + " ", v.bodyHeight);
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s << indent << "footRaiseHeight: ";
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Printer<float>::stream(s, indent + " ", v.footRaiseHeight);
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s << indent << "yaw: ";
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Printer<float>::stream(s, indent + " ", v.yaw);
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s << indent << "pitch: ";
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Printer<float>::stream(s, indent + " ", v.pitch);
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s << indent << "roll: ";
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Printer<float>::stream(s, indent + " ", v.roll);
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s << indent << "led[]" << std::endl;
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for (size_t i = 0; i < v.led.size(); ++i)
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{
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s << indent << " led[" << i << "]: ";
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s << std::endl;
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s << indent;
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Printer< ::unitree_legged_msgs::LED_<ContainerAllocator> >::stream(s, indent + " ", v.led[i]);
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}
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s << indent << "wirelessRemote[]" << std::endl;
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for (size_t i = 0; i < v.wirelessRemote.size(); ++i)
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{
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s << indent << " wirelessRemote[" << i << "]: ";
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Printer<uint8_t>::stream(s, indent + " ", v.wirelessRemote[i]);
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}
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s << indent << "AppRemote[]" << std::endl;
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for (size_t i = 0; i < v.AppRemote.size(); ++i)
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{
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s << indent << " AppRemote[" << i << "]: ";
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Printer<uint8_t>::stream(s, indent + " ", v.AppRemote[i]);
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}
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s << indent << "reserve: ";
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Printer<uint32_t>::stream(s, indent + " ", v.reserve);
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s << indent << "crc: ";
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Printer<int32_t>::stream(s, indent + " ", v.crc);
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}
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};
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} // namespace message_operations
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} // namespace ros
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#endif // UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H
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