/****************************************************************
Generated by Eclipse Cyclone DDS IDL to CXX Translator
File name: SportModeState_.idl
Source: SportModeState_.hpp
Cyclone DDS: v0.10.2
*****************************************************************/
#ifndef DDSCXX_UNITREE_IDL_GO2_SPORTMODESTATE__HPP
#define DDSCXX_UNITREE_IDL_GO2_SPORTMODESTATE__HPP
#include "unitree/idl/go2/IMUState_.hpp"
#include "unitree/idl/go2/PathPoint_.hpp"
#include "unitree/idl/go2/TimeSpec_.hpp"
#include <cstdint>
#include <array>
namespace unitree_go
{
namespace msg
{
namespace dds_
{
class SportModeState_
{
private:
::unitree_go::msg::dds_::TimeSpec_ stamp_;
uint32_t error_code_ = 0;
::unitree_go::msg::dds_::IMUState_ imu_state_;
uint8_t mode_ = 0;
float progress_ = 0.0f;
uint8_t gait_type_ = 0;
float foot_raise_height_ = 0.0f;
std::array<float, 3> position_ = { };
float body_height_ = 0.0f;
std::array<float, 3> velocity_ = { };
float yaw_speed_ = 0.0f;
std::array<float, 4> range_obstacle_ = { };
std::array<int16_t, 4> foot_force_ = { };
std::array<float, 12> foot_position_body_ = { };
std::array<float, 12> foot_speed_body_ = { };
std::array<::unitree_go::msg::dds_::PathPoint_, 10> path_point_ = { };
public:
SportModeState_() = default;
explicit SportModeState_(
const ::unitree_go::msg::dds_::TimeSpec_& stamp,
uint32_t error_code,
const ::unitree_go::msg::dds_::IMUState_& imu_state,
uint8_t mode,
float progress,
uint8_t gait_type,
float foot_raise_height,
const std::array<float, 3>& position,
float body_height,
const std::array<float, 3>& velocity,
float yaw_speed,
const std::array<float, 4>& range_obstacle,
const std::array<int16_t, 4>& foot_force,
const std::array<float, 12>& foot_position_body,
const std::array<float, 12>& foot_speed_body,
const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point) :
stamp_(stamp),
error_code_(error_code),
imu_state_(imu_state),
mode_(mode),
progress_(progress),
gait_type_(gait_type),
foot_raise_height_(foot_raise_height),
position_(position),
body_height_(body_height),
velocity_(velocity),
yaw_speed_(yaw_speed),
range_obstacle_(range_obstacle),
foot_force_(foot_force),
foot_position_body_(foot_position_body),
foot_speed_body_(foot_speed_body),
path_point_(path_point) { }
const ::unitree_go::msg::dds_::TimeSpec_& stamp() const { return this->stamp_; }
::unitree_go::msg::dds_::TimeSpec_& stamp() { return this->stamp_; }
void stamp(const ::unitree_go::msg::dds_::TimeSpec_& _val_) { this->stamp_ = _val_; }
void stamp(::unitree_go::msg::dds_::TimeSpec_&& _val_) { this->stamp_ = _val_; }
uint32_t error_code() const { return this->error_code_; }
uint32_t& error_code() { return this->error_code_; }
void error_code(uint32_t _val_) { this->error_code_ = _val_; }
const ::unitree_go::msg::dds_::IMUState_& imu_state() const { return this->imu_state_; }
::unitree_go::msg::dds_::IMUState_& imu_state() { return this->imu_state_; }
void imu_state(const ::unitree_go::msg::dds_::IMUState_& _val_) { this->imu_state_ = _val_; }
void imu_state(::unitree_go::msg::dds_::IMUState_&& _val_) { this->imu_state_ = _val_; }
uint8_t mode() const { return this->mode_; }
uint8_t& mode() { return this->mode_; }
void mode(uint8_t _val_) { this->mode_ = _val_; }
float progress() const { return this->progress_; }
float& progress() { return this->progress_; }
void progress(float _val_) { this->progress_ = _val_; }
uint8_t gait_type() const { return this->gait_type_; }
uint8_t& gait_type() { return this->gait_type_; }
void gait_type(uint8_t _val_) { this->gait_type_ = _val_; }
float foot_raise_height() const { return this->foot_raise_height_; }
float& foot_raise_height() { return this->foot_raise_height_; }
void foot_raise_height(float _val_) { this->foot_raise_height_ = _val_; }
const std::array<float, 3>& position() const { return this->position_; }
std::array<float, 3>& position() { return this->position_; }
void position(const std::array<float, 3>& _val_) { this->position_ = _val_; }
void position(std::array<float, 3>&& _val_) { this->position_ = _val_; }
float body_height() const { return this->body_height_; }
float& body_height() { return this->body_height_; }
void body_height(float _val_) { this->body_height_ = _val_; }
const std::array<float, 3>& velocity() const { return this->velocity_; }
std::array<float, 3>& velocity() { return this->velocity_; }
void velocity(const std::array<float, 3>& _val_) { this->velocity_ = _val_; }
void velocity(std::array<float, 3>&& _val_) { this->velocity_ = _val_; }
float yaw_speed() const { return this->yaw_speed_; }
float& yaw_speed() { return this->yaw_speed_; }
void yaw_speed(float _val_) { this->yaw_speed_ = _val_; }
const std::array<float, 4>& range_obstacle() const { return this->range_obstacle_; }
std::array<float, 4>& range_obstacle() { return this->range_obstacle_; }
void range_obstacle(const std::array<float, 4>& _val_) { this->range_obstacle_ = _val_; }
void range_obstacle(std::array<float, 4>&& _val_) { this->range_obstacle_ = _val_; }
const std::array<int16_t, 4>& foot_force() const { return this->foot_force_; }
std::array<int16_t, 4>& foot_force() { return this->foot_force_; }
void foot_force(const std::array<int16_t, 4>& _val_) { this->foot_force_ = _val_; }
void foot_force(std::array<int16_t, 4>&& _val_) { this->foot_force_ = _val_; }
const std::array<float, 12>& foot_position_body() const { return this->foot_position_body_; }
std::array<float, 12>& foot_position_body() { return this->foot_position_body_; }
void foot_position_body(const std::array<float, 12>& _val_) { this->foot_position_body_ = _val_; }
void foot_position_body(std::array<float, 12>&& _val_) { this->foot_position_body_ = _val_; }
const std::array<float, 12>& foot_speed_body() const { return this->foot_speed_body_; }
std::array<float, 12>& foot_speed_body() { return this->foot_speed_body_; }
void foot_speed_body(const std::array<float, 12>& _val_) { this->foot_speed_body_ = _val_; }
void foot_speed_body(std::array<float, 12>&& _val_) { this->foot_speed_body_ = _val_; }
const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point() const { return this->path_point_; }
std::array<::unitree_go::msg::dds_::PathPoint_, 10>& path_point() { return this->path_point_; }
void path_point(const std::array<::unitree_go::msg::dds_::PathPoint_, 10>& _val_) { this->path_point_ = _val_; }
void path_point(std::array<::unitree_go::msg::dds_::PathPoint_, 10>&& _val_) { this->path_point_ = _val_; }
bool operator==(const SportModeState_& _other) const
{
(void) _other;
return stamp_ == _other.stamp_ &&
error_code_ == _other.error_code_ &&
imu_state_ == _other.imu_state_ &&
mode_ == _other.mode_ &&
progress_ == _other.progress_ &&
gait_type_ == _other.gait_type_ &&
foot_raise_height_ == _other.foot_raise_height_ &&
position_ == _other.position_ &&
body_height_ == _other.body_height_ &&
velocity_ == _other.velocity_ &&
yaw_speed_ == _other.yaw_speed_ &&
range_obstacle_ == _other.range_obstacle_ &&
foot_force_ == _other.foot_force_ &&
foot_position_body_ == _other.foot_position_body_ &&
foot_speed_body_ == _other.foot_speed_body_ &&
path_point_ == _other.path_point_;
}
bool operator!=(const SportModeState_& _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_::SportModeState_>::getTypeName()
{
return "unitree_go::msg::dds_::SportModeState_";
}
template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::SportModeState_>::isKeyless()
{
return true;
}
#ifdef DDSCXX_HAS_TYPE_DISCOVERY
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_map_blob_sz() { return 2316; }
template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_info_blob_sz() { return 244; }
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_map_blob() {
static const uint8_t blob[] = {
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0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 0xf2, 0xd6,
0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0xf1, 0x6d, 0x6e,
0x83, 0x23, 0xe9, 0x1a, 0xd4, 0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, };
return blob;
}
template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::SportModeState_>::type_info_blob() {
static const uint8_t blob[] = {
0xf0, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00,
0x14, 0x00, 0x00, 0x00, 0xf1, 0x9f, 0xa6, 0xcc, 0xdc, 0x5c, 0xaf, 0xde, 0xaa, 0xb8, 0xa7, 0x62,
0xe3, 0x10, 0x44, 0x00, 0x98, 0x01, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x56, 0x7c, 0x5a, 0x93, 0x54, 0x1c, 0x3b,
0x10, 0x86, 0xa4, 0xba, 0x46, 0xf9, 0x8d, 0x00, 0x37, 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, 0x14, 0x00, 0x00, 0x00, 0xf1, 0x6d, 0x6e, 0x83, 0x23, 0xe9, 0x1a, 0xd4,
0x2a, 0x82, 0x33, 0xae, 0xf6, 0xbd, 0xe2, 0x00, 0x87, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40,
0x70, 0x00, 0x00, 0x00, 0x6c, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0xe5, 0x97, 0x49,
0x63, 0x0f, 0xff, 0x75, 0xcc, 0x17, 0x0a, 0xfb, 0x23, 0x87, 0x83, 0x00, 0xad, 0x02, 0x00, 0x00,
0x03, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
0xf2, 0x61, 0x24, 0x29, 0x6f, 0x59, 0x45, 0x9b, 0xa9, 0x0b, 0xe9, 0x24, 0xc9, 0x35, 0xcc, 0x00,
0x72, 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, 0x14, 0x00, 0x00, 0x00,
0xf2, 0xd6, 0x62, 0x9a, 0x35, 0x54, 0x6d, 0x9f, 0xc9, 0xae, 0x65, 0xcf, 0xa2, 0xd4, 0x15, 0x00,
0xe7, 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_::SportModeState_>
{
static std::string value()
{
return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::SportModeState_>::getTypeName();
}
};
}
}
REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::SportModeState_)
namespace org{
namespace eclipse{
namespace cyclonedds{
namespace core{
namespace cdr{
template<>
propvec &get_type_props<::unitree_go::msg::dds_::SportModeState_>();
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_::SportModeState_& 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 (!write(streamer, instance.stamp(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.error_code()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.progress()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.velocity()[0], instance.velocity().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!write(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.foot_force()[0], instance.foot_force().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.foot_position_body()[0], instance.foot_position_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!write(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.path_point()) { //array depth 1
if (!write(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
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_::SportModeState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
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_::SportModeState_& 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 (!read(streamer, instance.stamp(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.error_code()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.progress()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.velocity()[0], instance.velocity().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!read(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.foot_force()[0], instance.foot_force().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.foot_position_body()[0], instance.foot_position_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!read(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (auto & a_1:instance.path_point()) { //array depth 1
if (!read(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
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_::SportModeState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
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_::SportModeState_& 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 (!move(streamer, instance.stamp(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.error_code()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.progress()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.velocity()[0], instance.velocity().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!move(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.foot_force()[0], instance.foot_force().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.foot_position_body()[0], instance.foot_position_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!move(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.path_point()) { //array depth 1
if (!move(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
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_::SportModeState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
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_::SportModeState_& 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 (!max(streamer, instance.stamp(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 1:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.error_code()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 2:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.imu_state(), prop))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 3:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.mode()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 4:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.progress()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 5:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.gait_type()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 6:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.foot_raise_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 7:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.position()[0], instance.position().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 8:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.body_height()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 9:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.velocity()[0], instance.velocity().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 10:
if (!streamer.start_member(*prop))
return false;
if (!max(streamer, instance.yaw_speed()))
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 11:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.range_obstacle()[0], instance.range_obstacle().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 12:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.foot_force()[0], instance.foot_force().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 13:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.foot_position_body()[0], instance.foot_position_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 14:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, true))
return false;
if (!max(streamer, instance.foot_speed_body()[0], instance.foot_speed_body().size()))
return false;
if (!streamer.finish_consecutive())
return false;
if (!streamer.finish_member(*prop))
return false;
break;
case 15:
if (!streamer.start_member(*prop))
return false;
if (!streamer.start_consecutive(true, false))
return false;
for (const auto & a_1:instance.path_point()) { //array depth 1
if (!max(streamer, a_1, prop))
return false;
} //array depth 1
if (!streamer.finish_consecutive())
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_::SportModeState_& instance, bool as_key) {
auto &props = get_type_props<::unitree_go::msg::dds_::SportModeState_>();
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_UNITREE_IDL_GO2_SPORTMODESTATE__HPP
