YARP
Yet Another Robot Platform
 
Loading...
Searching...
No Matches
OdometryData.cpp
Go to the documentation of this file.
1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6// Autogenerated by Thrift Compiler (0.14.1-yarped)
7//
8// This is an automatically generated file.
9// It could get re-generated if the ALLOW_IDL_GENERATION flag is on.
10
11#include <yarp/dev/OdometryData.h>
12
13namespace yarp::dev {
14
15// Constructor with field values
16OdometryData::OdometryData(const double odom_x,
17 const double odom_y,
18 const double odom_theta,
19 const double base_vel_x,
20 const double base_vel_y,
21 const double base_vel_theta,
22 const double odom_vel_x,
23 const double odom_vel_y,
24 const double odom_vel_theta) :
25 WirePortable(),
26 odom_x(odom_x),
27 odom_y(odom_y),
28 odom_theta(odom_theta),
29 base_vel_x(base_vel_x),
30 base_vel_y(base_vel_y),
31 base_vel_theta(base_vel_theta),
32 odom_vel_x(odom_vel_x),
33 odom_vel_y(odom_vel_y),
34 odom_vel_theta(odom_vel_theta)
35{
36}
37
38// Read structure on a Wire
39bool OdometryData::read(yarp::os::idl::WireReader& reader)
40{
41 if (!read_odom_x(reader)) {
42 return false;
43 }
44 if (!read_odom_y(reader)) {
45 return false;
46 }
47 if (!read_odom_theta(reader)) {
48 return false;
49 }
50 if (!read_base_vel_x(reader)) {
51 return false;
52 }
53 if (!read_base_vel_y(reader)) {
54 return false;
55 }
56 if (!read_base_vel_theta(reader)) {
57 return false;
58 }
59 if (!read_odom_vel_x(reader)) {
60 return false;
61 }
62 if (!read_odom_vel_y(reader)) {
63 return false;
64 }
65 if (!read_odom_vel_theta(reader)) {
66 return false;
67 }
68 if (reader.isError()) {
69 return false;
70 }
71 return true;
72}
73
74// Read structure on a Connection
75bool OdometryData::read(yarp::os::ConnectionReader& connection)
76{
77 yarp::os::idl::WireReader reader(connection);
78 if (!reader.readListHeader(9)) {
79 return false;
80 }
81 if (!read(reader)) {
82 return false;
83 }
84 return true;
85}
86
87// Write structure on a Wire
88bool OdometryData::write(const yarp::os::idl::WireWriter& writer) const
89{
90 if (!write_odom_x(writer)) {
91 return false;
92 }
93 if (!write_odom_y(writer)) {
94 return false;
95 }
96 if (!write_odom_theta(writer)) {
97 return false;
98 }
99 if (!write_base_vel_x(writer)) {
100 return false;
101 }
102 if (!write_base_vel_y(writer)) {
103 return false;
104 }
105 if (!write_base_vel_theta(writer)) {
106 return false;
107 }
108 if (!write_odom_vel_x(writer)) {
109 return false;
110 }
111 if (!write_odom_vel_y(writer)) {
112 return false;
113 }
114 if (!write_odom_vel_theta(writer)) {
115 return false;
116 }
117 if (writer.isError()) {
118 return false;
119 }
120 return true;
121}
122
123// Write structure on a Connection
124bool OdometryData::write(yarp::os::ConnectionWriter& connection) const
125{
126 yarp::os::idl::WireWriter writer(connection);
127 if (!writer.writeListHeader(9)) {
128 return false;
129 }
130 if (!write(writer)) {
131 return false;
132 }
133 return true;
134}
135
136// Convert to a printable string
137std::string OdometryData::toString() const
138{
139 yarp::os::Bottle b;
140 if (!yarp::os::Portable::copyPortable(*this, b)) {
141 return {};
142 }
143 return b.toString();
144}
145
146// read odom_x field
147bool OdometryData::read_odom_x(yarp::os::idl::WireReader& reader)
148{
149 if (reader.noMore()) {
150 reader.fail();
151 return false;
152 }
153 if (!reader.readFloat64(odom_x)) {
154 reader.fail();
155 return false;
156 }
157 return true;
158}
159
160// write odom_x field
161bool OdometryData::write_odom_x(const yarp::os::idl::WireWriter& writer) const
162{
163 if (!writer.writeFloat64(odom_x)) {
164 return false;
165 }
166 return true;
167}
168
169// read (nested) odom_x field
170bool OdometryData::nested_read_odom_x(yarp::os::idl::WireReader& reader)
171{
172 if (reader.noMore()) {
173 reader.fail();
174 return false;
175 }
176 if (!reader.readFloat64(odom_x)) {
177 reader.fail();
178 return false;
179 }
180 return true;
181}
182
183// write (nested) odom_x field
184bool OdometryData::nested_write_odom_x(const yarp::os::idl::WireWriter& writer) const
185{
186 if (!writer.writeFloat64(odom_x)) {
187 return false;
188 }
189 return true;
190}
191
192// read odom_y field
193bool OdometryData::read_odom_y(yarp::os::idl::WireReader& reader)
194{
195 if (reader.noMore()) {
196 reader.fail();
197 return false;
198 }
199 if (!reader.readFloat64(odom_y)) {
200 reader.fail();
201 return false;
202 }
203 return true;
204}
205
206// write odom_y field
207bool OdometryData::write_odom_y(const yarp::os::idl::WireWriter& writer) const
208{
209 if (!writer.writeFloat64(odom_y)) {
210 return false;
211 }
212 return true;
213}
214
215// read (nested) odom_y field
216bool OdometryData::nested_read_odom_y(yarp::os::idl::WireReader& reader)
217{
218 if (reader.noMore()) {
219 reader.fail();
220 return false;
221 }
222 if (!reader.readFloat64(odom_y)) {
223 reader.fail();
224 return false;
225 }
226 return true;
227}
228
229// write (nested) odom_y field
230bool OdometryData::nested_write_odom_y(const yarp::os::idl::WireWriter& writer) const
231{
232 if (!writer.writeFloat64(odom_y)) {
233 return false;
234 }
235 return true;
236}
237
238// read odom_theta field
239bool OdometryData::read_odom_theta(yarp::os::idl::WireReader& reader)
240{
241 if (reader.noMore()) {
242 reader.fail();
243 return false;
244 }
245 if (!reader.readFloat64(odom_theta)) {
246 reader.fail();
247 return false;
248 }
249 return true;
250}
251
252// write odom_theta field
253bool OdometryData::write_odom_theta(const yarp::os::idl::WireWriter& writer) const
254{
255 if (!writer.writeFloat64(odom_theta)) {
256 return false;
257 }
258 return true;
259}
260
261// read (nested) odom_theta field
262bool OdometryData::nested_read_odom_theta(yarp::os::idl::WireReader& reader)
263{
264 if (reader.noMore()) {
265 reader.fail();
266 return false;
267 }
268 if (!reader.readFloat64(odom_theta)) {
269 reader.fail();
270 return false;
271 }
272 return true;
273}
274
275// write (nested) odom_theta field
276bool OdometryData::nested_write_odom_theta(const yarp::os::idl::WireWriter& writer) const
277{
278 if (!writer.writeFloat64(odom_theta)) {
279 return false;
280 }
281 return true;
282}
283
284// read base_vel_x field
285bool OdometryData::read_base_vel_x(yarp::os::idl::WireReader& reader)
286{
287 if (reader.noMore()) {
288 reader.fail();
289 return false;
290 }
291 if (!reader.readFloat64(base_vel_x)) {
292 reader.fail();
293 return false;
294 }
295 return true;
296}
297
298// write base_vel_x field
299bool OdometryData::write_base_vel_x(const yarp::os::idl::WireWriter& writer) const
300{
301 if (!writer.writeFloat64(base_vel_x)) {
302 return false;
303 }
304 return true;
305}
306
307// read (nested) base_vel_x field
308bool OdometryData::nested_read_base_vel_x(yarp::os::idl::WireReader& reader)
309{
310 if (reader.noMore()) {
311 reader.fail();
312 return false;
313 }
314 if (!reader.readFloat64(base_vel_x)) {
315 reader.fail();
316 return false;
317 }
318 return true;
319}
320
321// write (nested) base_vel_x field
322bool OdometryData::nested_write_base_vel_x(const yarp::os::idl::WireWriter& writer) const
323{
324 if (!writer.writeFloat64(base_vel_x)) {
325 return false;
326 }
327 return true;
328}
329
330// read base_vel_y field
331bool OdometryData::read_base_vel_y(yarp::os::idl::WireReader& reader)
332{
333 if (reader.noMore()) {
334 reader.fail();
335 return false;
336 }
337 if (!reader.readFloat64(base_vel_y)) {
338 reader.fail();
339 return false;
340 }
341 return true;
342}
343
344// write base_vel_y field
345bool OdometryData::write_base_vel_y(const yarp::os::idl::WireWriter& writer) const
346{
347 if (!writer.writeFloat64(base_vel_y)) {
348 return false;
349 }
350 return true;
351}
352
353// read (nested) base_vel_y field
354bool OdometryData::nested_read_base_vel_y(yarp::os::idl::WireReader& reader)
355{
356 if (reader.noMore()) {
357 reader.fail();
358 return false;
359 }
360 if (!reader.readFloat64(base_vel_y)) {
361 reader.fail();
362 return false;
363 }
364 return true;
365}
366
367// write (nested) base_vel_y field
368bool OdometryData::nested_write_base_vel_y(const yarp::os::idl::WireWriter& writer) const
369{
370 if (!writer.writeFloat64(base_vel_y)) {
371 return false;
372 }
373 return true;
374}
375
376// read base_vel_theta field
377bool OdometryData::read_base_vel_theta(yarp::os::idl::WireReader& reader)
378{
379 if (reader.noMore()) {
380 reader.fail();
381 return false;
382 }
383 if (!reader.readFloat64(base_vel_theta)) {
384 reader.fail();
385 return false;
386 }
387 return true;
388}
389
390// write base_vel_theta field
391bool OdometryData::write_base_vel_theta(const yarp::os::idl::WireWriter& writer) const
392{
393 if (!writer.writeFloat64(base_vel_theta)) {
394 return false;
395 }
396 return true;
397}
398
399// read (nested) base_vel_theta field
400bool OdometryData::nested_read_base_vel_theta(yarp::os::idl::WireReader& reader)
401{
402 if (reader.noMore()) {
403 reader.fail();
404 return false;
405 }
406 if (!reader.readFloat64(base_vel_theta)) {
407 reader.fail();
408 return false;
409 }
410 return true;
411}
412
413// write (nested) base_vel_theta field
414bool OdometryData::nested_write_base_vel_theta(const yarp::os::idl::WireWriter& writer) const
415{
416 if (!writer.writeFloat64(base_vel_theta)) {
417 return false;
418 }
419 return true;
420}
421
422// read odom_vel_x field
423bool OdometryData::read_odom_vel_x(yarp::os::idl::WireReader& reader)
424{
425 if (reader.noMore()) {
426 reader.fail();
427 return false;
428 }
429 if (!reader.readFloat64(odom_vel_x)) {
430 reader.fail();
431 return false;
432 }
433 return true;
434}
435
436// write odom_vel_x field
437bool OdometryData::write_odom_vel_x(const yarp::os::idl::WireWriter& writer) const
438{
439 if (!writer.writeFloat64(odom_vel_x)) {
440 return false;
441 }
442 return true;
443}
444
445// read (nested) odom_vel_x field
446bool OdometryData::nested_read_odom_vel_x(yarp::os::idl::WireReader& reader)
447{
448 if (reader.noMore()) {
449 reader.fail();
450 return false;
451 }
452 if (!reader.readFloat64(odom_vel_x)) {
453 reader.fail();
454 return false;
455 }
456 return true;
457}
458
459// write (nested) odom_vel_x field
460bool OdometryData::nested_write_odom_vel_x(const yarp::os::idl::WireWriter& writer) const
461{
462 if (!writer.writeFloat64(odom_vel_x)) {
463 return false;
464 }
465 return true;
466}
467
468// read odom_vel_y field
469bool OdometryData::read_odom_vel_y(yarp::os::idl::WireReader& reader)
470{
471 if (reader.noMore()) {
472 reader.fail();
473 return false;
474 }
475 if (!reader.readFloat64(odom_vel_y)) {
476 reader.fail();
477 return false;
478 }
479 return true;
480}
481
482// write odom_vel_y field
483bool OdometryData::write_odom_vel_y(const yarp::os::idl::WireWriter& writer) const
484{
485 if (!writer.writeFloat64(odom_vel_y)) {
486 return false;
487 }
488 return true;
489}
490
491// read (nested) odom_vel_y field
492bool OdometryData::nested_read_odom_vel_y(yarp::os::idl::WireReader& reader)
493{
494 if (reader.noMore()) {
495 reader.fail();
496 return false;
497 }
498 if (!reader.readFloat64(odom_vel_y)) {
499 reader.fail();
500 return false;
501 }
502 return true;
503}
504
505// write (nested) odom_vel_y field
506bool OdometryData::nested_write_odom_vel_y(const yarp::os::idl::WireWriter& writer) const
507{
508 if (!writer.writeFloat64(odom_vel_y)) {
509 return false;
510 }
511 return true;
512}
513
514// read odom_vel_theta field
515bool OdometryData::read_odom_vel_theta(yarp::os::idl::WireReader& reader)
516{
517 if (reader.noMore()) {
518 reader.fail();
519 return false;
520 }
521 if (!reader.readFloat64(odom_vel_theta)) {
522 reader.fail();
523 return false;
524 }
525 return true;
526}
527
528// write odom_vel_theta field
529bool OdometryData::write_odom_vel_theta(const yarp::os::idl::WireWriter& writer) const
530{
531 if (!writer.writeFloat64(odom_vel_theta)) {
532 return false;
533 }
534 return true;
535}
536
537// read (nested) odom_vel_theta field
538bool OdometryData::nested_read_odom_vel_theta(yarp::os::idl::WireReader& reader)
539{
540 if (reader.noMore()) {
541 reader.fail();
542 return false;
543 }
544 if (!reader.readFloat64(odom_vel_theta)) {
545 reader.fail();
546 return false;
547 }
548 return true;
549}
550
551// write (nested) odom_vel_theta field
552bool OdometryData::nested_write_odom_vel_theta(const yarp::os::idl::WireWriter& writer) const
553{
554 if (!writer.writeFloat64(odom_vel_theta)) {
555 return false;
556 }
557 return true;
558}
559
560} // namespace yarp::dev
yarp::dev::OdometryData::base_vel_x
double base_vel_x
velocity of the robot [m/s] expressed in the robot reference frame
Definition OdometryData.h:41
yarp::dev::OdometryData::odom_vel_y
double odom_vel_y
velocity of the robot [m/s] expressed in the world reference frame
Definition OdometryData.h:57
yarp::dev::OdometryData::base_vel_theta
double base_vel_theta
angular velocity of the robot [deg/s] expressed in the robot reference frame
Definition OdometryData.h:49
yarp::dev::OdometryData::odom_vel_theta
double odom_vel_theta
angular velocity of the robot [deg/s] expressed in the world reference frame
Definition OdometryData.h:61
yarp::dev::OdometryData::base_vel_y
double base_vel_y
velocity of the robot [m/s] expressed in the robot reference frame
Definition OdometryData.h:45
yarp::dev::OdometryData::read
bool read(yarp::os::idl::WireReader &reader) override
Definition OdometryData.cpp:39
yarp::dev::OdometryData::odom_x
double odom_x
position of the robot [m], expressed in the world reference frame
Definition OdometryData.h:29
yarp::dev::OdometryData::read
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition OdometryData.cpp:75
yarp::dev::OdometryData::toString
std::string toString() const
Definition OdometryData.cpp:137
yarp::dev::OdometryData::odom_y
double odom_y
position of the robot [m], expressed in the world reference frame
Definition OdometryData.h:33
yarp::dev::OdometryData::odom_theta
double odom_theta
orientation the robot [deg], expressed in the world reference frame
Definition OdometryData.h:37
yarp::dev::OdometryData::odom_vel_x
double odom_vel_x
velocity of the robot [m/s] expressed in the world reference frame
Definition OdometryData.h:53
yarp::dev::OdometryData::write
bool write(const yarp::os::idl::WireWriter &writer) const override
Definition OdometryData.cpp:88
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition Bottle.h:64
yarp::os::Bottle::toString
std::string toString() const override
Gives a human-readable textual representation of the bottle.
Definition Bottle.cpp:211
yarp::os::ConnectionReader
An interface for reading from a network connection.
Definition ConnectionReader.h:34
yarp::os::ConnectionWriter
An interface for writing to a network connection.
Definition ConnectionWriter.h:34
yarp::os::Portable::copyPortable
static bool copyPortable(const PortWriter &writer, PortReader &reader)
Copy one portable to another, via writing and reading.
Definition Portable.cpp:16
yarp::os::idl::WireReader
IDL-friendly connection reader.
Definition WireReader.h:27
yarp::os::idl::WireReader::readFloat64
bool readFloat64(yarp::conf::float64_t &x)
Definition WireReader.cpp:271
yarp::os::idl::WireWriter
IDL-friendly connection writer.
Definition WireWriter.h:28
yarp::os::idl::WireWriter::writeListHeader
bool writeListHeader(int len) const
Definition WireWriter.cpp:231
yarp::os::idl::WireWriter::writeFloat64
bool writeFloat64(yarp::conf::float64_t x, bool skip_tag=false) const
Definition WireWriter.cpp:124
yarp::dev
For streams capable of holding different kinds of content, check what they actually have.
Definition BatteryData.cpp:13