449 lines
14 KiB
C++
449 lines
14 KiB
C++
// Generated by gencpp from file unitree_legged_msgs/LowState.msg
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// DO NOT EDIT!
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#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H
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#define UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_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/IMU.h>
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#include <unitree_legged_msgs/MotorState.h>
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#include <unitree_legged_msgs/Cartesian.h>
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#include <unitree_legged_msgs/Cartesian.h>
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#include <unitree_legged_msgs/Cartesian.h>
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#include <unitree_legged_msgs/Cartesian.h>
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#include <unitree_legged_msgs/Cartesian.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 LowState_
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{
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typedef LowState_<ContainerAllocator> Type;
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LowState_()
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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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, imu()
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, motorState()
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, footForce()
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, footForceEst()
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, tick(0)
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, wirelessRemote()
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, reserve(0)
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, crc(0)
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, eeForceRaw()
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, eeForce()
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, position()
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, velocity()
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, velocity_w() {
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footForce.assign(0);
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footForceEst.assign(0);
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wirelessRemote.assign(0);
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}
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LowState_(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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, imu(_alloc)
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, motorState()
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, footForce()
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, footForceEst()
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, tick(0)
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, wirelessRemote()
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, reserve(0)
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, crc(0)
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, eeForceRaw()
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, eeForce()
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, position(_alloc)
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, velocity(_alloc)
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, velocity_w(_alloc) {
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(void)_alloc;
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motorState.assign( ::unitree_legged_msgs::MotorState_<ContainerAllocator> (_alloc));
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footForce.assign(0);
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footForceEst.assign(0);
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wirelessRemote.assign(0);
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eeForceRaw.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
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eeForce.assign( ::unitree_legged_msgs::Cartesian_<ContainerAllocator> (_alloc));
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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 ::unitree_legged_msgs::IMU_<ContainerAllocator> _imu_type;
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_imu_type imu;
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typedef boost::array< ::unitree_legged_msgs::MotorState_<ContainerAllocator> , 20> _motorState_type;
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_motorState_type motorState;
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typedef boost::array<int16_t, 4> _footForce_type;
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_footForce_type footForce;
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typedef boost::array<int16_t, 4> _footForceEst_type;
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_footForceEst_type footForceEst;
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typedef uint32_t _tick_type;
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_tick_type tick;
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typedef boost::array<uint8_t, 40> _wirelessRemote_type;
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_wirelessRemote_type wirelessRemote;
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typedef uint32_t _reserve_type;
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_reserve_type reserve;
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typedef uint32_t _crc_type;
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_crc_type crc;
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typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _eeForceRaw_type;
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_eeForceRaw_type eeForceRaw;
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typedef boost::array< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> , 4> _eeForce_type;
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_eeForce_type eeForce;
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typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _position_type;
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_position_type position;
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typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _velocity_type;
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_velocity_type velocity;
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typedef ::unitree_legged_msgs::Cartesian_<ContainerAllocator> _velocity_w_type;
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_velocity_w_type velocity_w;
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typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_<ContainerAllocator> > Ptr;
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typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_<ContainerAllocator> const> ConstPtr;
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}; // struct LowState_
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typedef ::unitree_legged_msgs::LowState_<std::allocator<void> > LowState;
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typedef boost::shared_ptr< ::unitree_legged_msgs::LowState > LowStatePtr;
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typedef boost::shared_ptr< ::unitree_legged_msgs::LowState const> LowStateConstPtr;
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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::LowState_<ContainerAllocator> & v)
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{
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ros::message_operations::Printer< ::unitree_legged_msgs::LowState_<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::LowState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::LowState_<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.imu == rhs.imu &&
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lhs.motorState == rhs.motorState &&
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lhs.footForce == rhs.footForce &&
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lhs.footForceEst == rhs.footForceEst &&
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lhs.tick == rhs.tick &&
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lhs.wirelessRemote == rhs.wirelessRemote &&
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lhs.reserve == rhs.reserve &&
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lhs.crc == rhs.crc &&
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lhs.eeForceRaw == rhs.eeForceRaw &&
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lhs.eeForce == rhs.eeForce &&
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lhs.position == rhs.position &&
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lhs.velocity == rhs.velocity &&
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lhs.velocity_w == rhs.velocity_w;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator!=(const ::unitree_legged_msgs::LowState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::LowState_<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::LowState_<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::LowState_<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::LowState_<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::LowState_<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::LowState_<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::LowState_<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::LowState_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "cef9d4f6b5a89bd6330896affb1bca88";
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}
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static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
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static const uint64_t static_value1 = 0xcef9d4f6b5a89bd6ULL;
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static const uint64_t static_value2 = 0x330896affb1bca88ULL;
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};
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template<class ContainerAllocator>
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struct DataType< ::unitree_legged_msgs::LowState_<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/LowState";
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}
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static const char* value(const ::unitree_legged_msgs::LowState_<ContainerAllocator>&) { return value(); }
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};
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template<class ContainerAllocator>
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struct Definition< ::unitree_legged_msgs::LowState_<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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"IMU imu\n"
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"MotorState[20] motorState\n"
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"int16[4] footForce # force sensors # Old version Aliengo is different\n"
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"int16[4] footForceEst # force sensors # Old version Aliengo does not have\n"
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"uint32 tick # reference real-time from motion controller (unit: us)\n"
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"uint8[40] wirelessRemote # wireless commands\n"
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"uint32 reserve # Old version Aliengo does not have\n"
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"uint32 crc\n"
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"\n"
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"# Old version Aliengo does not have:\n"
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"Cartesian[4] eeForceRaw\n"
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"Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization \n"
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"Cartesian position # will delete\n"
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"Cartesian velocity # will delete\n"
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"Cartesian velocity_w # will delete\n"
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"\n"
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"================================================================================\n"
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"MSG: unitree_legged_msgs/IMU\n"
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"float32[4] quaternion\n"
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"float32[3] gyroscope\n"
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"float32[3] accelerometer\n"
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"int8 temperature\n"
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"================================================================================\n"
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"MSG: unitree_legged_msgs/MotorState\n"
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"uint8 mode # motor current mode \n"
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"float32 q # motor current position（rad）\n"
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"float32 dq # motor current speed（rad/s）\n"
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"float32 ddq # motor current speed（rad/s）\n"
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"float32 tauEst # current estimated output torque（N*m）\n"
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"float32 q_raw # motor current position（rad）\n"
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"float32 dq_raw # motor current speed（rad/s）\n"
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"float32 ddq_raw # motor current speed（rad/s）\n"
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"int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n"
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"uint32[2] reserve\n"
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"================================================================================\n"
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"MSG: unitree_legged_msgs/Cartesian\n"
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"float32 x\n"
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"float32 y\n"
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"float32 z\n"
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;
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}
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static const char* value(const ::unitree_legged_msgs::LowState_<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::LowState_<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.imu);
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stream.next(m.motorState);
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stream.next(m.footForce);
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stream.next(m.footForceEst);
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stream.next(m.tick);
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stream.next(m.wirelessRemote);
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stream.next(m.reserve);
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stream.next(m.crc);
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stream.next(m.eeForceRaw);
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stream.next(m.eeForce);
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stream.next(m.position);
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stream.next(m.velocity);
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stream.next(m.velocity_w);
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}
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ROS_DECLARE_ALLINONE_SERIALIZER
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}; // struct LowState_
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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::LowState_<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::LowState_<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 << "imu: ";
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s << std::endl;
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Printer< ::unitree_legged_msgs::IMU_<ContainerAllocator> >::stream(s, indent + " ", v.imu);
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s << indent << "motorState[]" << std::endl;
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for (size_t i = 0; i < v.motorState.size(); ++i)
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{
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s << indent << " motorState[" << i << "]: ";
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s << std::endl;
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s << indent;
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Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >::stream(s, indent + " ", v.motorState[i]);
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}
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s << indent << "footForce[]" << std::endl;
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for (size_t i = 0; i < v.footForce.size(); ++i)
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{
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s << indent << " footForce[" << i << "]: ";
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Printer<int16_t>::stream(s, indent + " ", v.footForce[i]);
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}
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s << indent << "footForceEst[]" << std::endl;
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for (size_t i = 0; i < v.footForceEst.size(); ++i)
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{
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s << indent << " footForceEst[" << i << "]: ";
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Printer<int16_t>::stream(s, indent + " ", v.footForceEst[i]);
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}
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s << indent << "tick: ";
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Printer<uint32_t>::stream(s, indent + " ", v.tick);
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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 << "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<uint32_t>::stream(s, indent + " ", v.crc);
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s << indent << "eeForceRaw[]" << std::endl;
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for (size_t i = 0; i < v.eeForceRaw.size(); ++i)
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{
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s << indent << " eeForceRaw[" << i << "]: ";
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s << std::endl;
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s << indent;
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Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.eeForceRaw[i]);
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}
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s << indent << "eeForce[]" << std::endl;
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for (size_t i = 0; i < v.eeForce.size(); ++i)
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{
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s << indent << " eeForce[" << i << "]: ";
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s << std::endl;
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s << indent;
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Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.eeForce[i]);
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}
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s << indent << "position: ";
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s << std::endl;
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Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.position);
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s << indent << "velocity: ";
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s << std::endl;
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Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.velocity);
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s << indent << "velocity_w: ";
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s << std::endl;
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Printer< ::unitree_legged_msgs::Cartesian_<ContainerAllocator> >::stream(s, indent + " ", v.velocity_w);
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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_LOWSTATE_H
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