292 lines
7.8 KiB
C++
292 lines
7.8 KiB
C++
// Generated by gencpp from file unitree_legged_msgs/MotorState.msg
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// DO NOT EDIT!
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#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
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#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_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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namespace unitree_legged_msgs
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{
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template <class ContainerAllocator>
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struct MotorState_
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{
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typedef MotorState_<ContainerAllocator> Type;
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MotorState_()
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: mode(0)
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, q(0.0)
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, dq(0.0)
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, ddq(0.0)
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, tauEst(0.0)
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, q_raw(0.0)
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, dq_raw(0.0)
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, ddq_raw(0.0)
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, temperature(0)
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, reserve() {
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reserve.assign(0);
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}
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MotorState_(const ContainerAllocator& _alloc)
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: mode(0)
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, q(0.0)
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, dq(0.0)
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, ddq(0.0)
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, tauEst(0.0)
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, q_raw(0.0)
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, dq_raw(0.0)
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, ddq_raw(0.0)
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, temperature(0)
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, reserve() {
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(void)_alloc;
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reserve.assign(0);
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}
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typedef uint8_t _mode_type;
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_mode_type mode;
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typedef float _q_type;
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_q_type q;
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typedef float _dq_type;
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_dq_type dq;
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typedef float _ddq_type;
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_ddq_type ddq;
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typedef float _tauEst_type;
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_tauEst_type tauEst;
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typedef float _q_raw_type;
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_q_raw_type q_raw;
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typedef float _dq_raw_type;
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_dq_raw_type dq_raw;
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typedef float _ddq_raw_type;
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_ddq_raw_type ddq_raw;
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typedef int8_t _temperature_type;
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_temperature_type temperature;
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typedef boost::array<uint32_t, 2> _reserve_type;
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_reserve_type reserve;
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typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> > Ptr;
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typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const> ConstPtr;
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}; // struct MotorState_
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typedef ::unitree_legged_msgs::MotorState_<std::allocator<void> > MotorState;
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typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState > MotorStatePtr;
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typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState const> MotorStateConstPtr;
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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::MotorState_<ContainerAllocator> & v)
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{
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ros::message_operations::Printer< ::unitree_legged_msgs::MotorState_<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::MotorState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorState_<ContainerAllocator2> & rhs)
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{
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return lhs.mode == rhs.mode &&
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lhs.q == rhs.q &&
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lhs.dq == rhs.dq &&
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lhs.ddq == rhs.ddq &&
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lhs.tauEst == rhs.tauEst &&
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lhs.q_raw == rhs.q_raw &&
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lhs.dq_raw == rhs.dq_raw &&
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lhs.ddq_raw == rhs.ddq_raw &&
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lhs.temperature == rhs.temperature &&
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lhs.reserve == rhs.reserve;
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}
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template<typename ContainerAllocator1, typename ContainerAllocator2>
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bool operator!=(const ::unitree_legged_msgs::MotorState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorState_<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::MotorState_<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::MotorState_<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::MotorState_<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::MotorState_<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::MotorState_<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::MotorState_<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::MotorState_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "94c55ee3b7852be2bd437b20ce12a254";
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}
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static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
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static const uint64_t static_value1 = 0x94c55ee3b7852be2ULL;
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static const uint64_t static_value2 = 0xbd437b20ce12a254ULL;
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};
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template<class ContainerAllocator>
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struct DataType< ::unitree_legged_msgs::MotorState_<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/MotorState";
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}
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static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
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};
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template<class ContainerAllocator>
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struct Definition< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
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{
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static const char* value()
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{
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return "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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;
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}
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static const char* value(const ::unitree_legged_msgs::MotorState_<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::MotorState_<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.mode);
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stream.next(m.q);
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stream.next(m.dq);
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stream.next(m.ddq);
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stream.next(m.tauEst);
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stream.next(m.q_raw);
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stream.next(m.dq_raw);
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stream.next(m.ddq_raw);
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stream.next(m.temperature);
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stream.next(m.reserve);
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}
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ROS_DECLARE_ALLINONE_SERIALIZER
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}; // struct MotorState_
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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::MotorState_<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::MotorState_<ContainerAllocator>& v)
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{
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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 << "q: ";
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Printer<float>::stream(s, indent + " ", v.q);
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s << indent << "dq: ";
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Printer<float>::stream(s, indent + " ", v.dq);
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s << indent << "ddq: ";
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Printer<float>::stream(s, indent + " ", v.ddq);
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s << indent << "tauEst: ";
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Printer<float>::stream(s, indent + " ", v.tauEst);
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s << indent << "q_raw: ";
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Printer<float>::stream(s, indent + " ", v.q_raw);
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s << indent << "dq_raw: ";
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Printer<float>::stream(s, indent + " ", v.dq_raw);
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s << indent << "ddq_raw: ";
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Printer<float>::stream(s, indent + " ", v.ddq_raw);
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s << indent << "temperature: ";
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Printer<int8_t>::stream(s, indent + " ", v.temperature);
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s << indent << "reserve[]" << std::endl;
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for (size_t i = 0; i < v.reserve.size(); ++i)
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{
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s << indent << " reserve[" << i << "]: ";
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Printer<uint32_t>::stream(s, indent + " ", v.reserve[i]);
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}
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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_MOTORSTATE_H
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