YARP
Yet Another Robot Platform
jointData.h
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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#ifndef YARP_THRIFT_GENERATOR_STRUCT_JOINTDATA_H
12#define YARP_THRIFT_GENERATOR_STRUCT_JOINTDATA_H
13
14#include <yarp/dev/api.h>
15
16#include <yarp/os/Wire.h>
17#include <yarp/os/idl/WireTypes.h>
18#include <yarp/sig/Vector.h>
19
20namespace yarp::dev::impl {
21
22class YARP_dev_API jointData :
23 public yarp::os::idl::WirePortable
24{
25public:
26 // Fields
27 yarp::sig::VectorOf<double> jointPosition{};
28 bool jointPosition_isValid{false};
29 yarp::sig::VectorOf<double> jointVelocity{};
30 bool jointVelocity_isValid{false};
31 yarp::sig::VectorOf<double> jointAcceleration{};
32 bool jointAcceleration_isValid{false};
33 yarp::sig::VectorOf<double> motorPosition{};
34 bool motorPosition_isValid{false};
35 yarp::sig::VectorOf<double> motorVelocity{};
36 bool motorVelocity_isValid{false};
37 yarp::sig::VectorOf<double> motorAcceleration{};
38 bool motorAcceleration_isValid{false};
39 yarp::sig::VectorOf<double> torque{};
40 bool torque_isValid{false};
41 yarp::sig::VectorOf<double> pwmDutycycle{};
42 bool pwmDutycycle_isValid{false};
43 yarp::sig::VectorOf<double> current{};
44 bool current_isValid{false};
45 yarp::sig::VectorOf<int> controlMode{};
46 bool controlMode_isValid{false};
47 yarp::sig::VectorOf<int> interactionMode{};
48 bool interactionMode_isValid{false};
49
50 // Default constructor
51 jointData() = default;
52
53 // Constructor with field values
54 jointData(const yarp::sig::VectorOf<double>& jointPosition,
55 const bool jointPosition_isValid,
56 const yarp::sig::VectorOf<double>& jointVelocity,
57 const bool jointVelocity_isValid,
58 const yarp::sig::VectorOf<double>& jointAcceleration,
59 const bool jointAcceleration_isValid,
60 const yarp::sig::VectorOf<double>& motorPosition,
61 const bool motorPosition_isValid,
62 const yarp::sig::VectorOf<double>& motorVelocity,
63 const bool motorVelocity_isValid,
64 const yarp::sig::VectorOf<double>& motorAcceleration,
65 const bool motorAcceleration_isValid,
66 const yarp::sig::VectorOf<double>& torque,
67 const bool torque_isValid,
68 const yarp::sig::VectorOf<double>& pwmDutycycle,
69 const bool pwmDutycycle_isValid,
70 const yarp::sig::VectorOf<double>& current,
71 const bool current_isValid,
72 const yarp::sig::VectorOf<int>& controlMode,
73 const bool controlMode_isValid,
74 const yarp::sig::VectorOf<int>& interactionMode,
75 const bool interactionMode_isValid);
76
77 // Read structure on a Wire
78 bool read(yarp::os::idl::WireReader& reader) override;
79
80 // Read structure on a Connection
81 bool read(yarp::os::ConnectionReader& connection) override;
82
83 // Write structure on a Wire
84 bool write(const yarp::os::idl::WireWriter& writer) const override;
85
86 // Write structure on a Connection
87 bool write(yarp::os::ConnectionWriter& connection) const override;
88
89 // Convert to a printable string
90 std::string toString() const;
91
92 // If you want to serialize this class without nesting, use this helper
93 typedef yarp::os::idl::Unwrapped<jointData> unwrapped;
94
95private:
96 // read/write jointPosition field
97 bool read_jointPosition(yarp::os::idl::WireReader& reader);
98 bool write_jointPosition(const yarp::os::idl::WireWriter& writer) const;
99 bool nested_read_jointPosition(yarp::os::idl::WireReader& reader);
100 bool nested_write_jointPosition(const yarp::os::idl::WireWriter& writer) const;
101
102 // read/write jointPosition_isValid field
103 bool read_jointPosition_isValid(yarp::os::idl::WireReader& reader);
104 bool write_jointPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
105 bool nested_read_jointPosition_isValid(yarp::os::idl::WireReader& reader);
106 bool nested_write_jointPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
107
108 // read/write jointVelocity field
109 bool read_jointVelocity(yarp::os::idl::WireReader& reader);
110 bool write_jointVelocity(const yarp::os::idl::WireWriter& writer) const;
111 bool nested_read_jointVelocity(yarp::os::idl::WireReader& reader);
112 bool nested_write_jointVelocity(const yarp::os::idl::WireWriter& writer) const;
113
114 // read/write jointVelocity_isValid field
115 bool read_jointVelocity_isValid(yarp::os::idl::WireReader& reader);
116 bool write_jointVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
117 bool nested_read_jointVelocity_isValid(yarp::os::idl::WireReader& reader);
118 bool nested_write_jointVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
119
120 // read/write jointAcceleration field
121 bool read_jointAcceleration(yarp::os::idl::WireReader& reader);
122 bool write_jointAcceleration(const yarp::os::idl::WireWriter& writer) const;
123 bool nested_read_jointAcceleration(yarp::os::idl::WireReader& reader);
124 bool nested_write_jointAcceleration(const yarp::os::idl::WireWriter& writer) const;
125
126 // read/write jointAcceleration_isValid field
127 bool read_jointAcceleration_isValid(yarp::os::idl::WireReader& reader);
128 bool write_jointAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
129 bool nested_read_jointAcceleration_isValid(yarp::os::idl::WireReader& reader);
130 bool nested_write_jointAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
131
132 // read/write motorPosition field
133 bool read_motorPosition(yarp::os::idl::WireReader& reader);
134 bool write_motorPosition(const yarp::os::idl::WireWriter& writer) const;
135 bool nested_read_motorPosition(yarp::os::idl::WireReader& reader);
136 bool nested_write_motorPosition(const yarp::os::idl::WireWriter& writer) const;
137
138 // read/write motorPosition_isValid field
139 bool read_motorPosition_isValid(yarp::os::idl::WireReader& reader);
140 bool write_motorPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
141 bool nested_read_motorPosition_isValid(yarp::os::idl::WireReader& reader);
142 bool nested_write_motorPosition_isValid(const yarp::os::idl::WireWriter& writer) const;
143
144 // read/write motorVelocity field
145 bool read_motorVelocity(yarp::os::idl::WireReader& reader);
146 bool write_motorVelocity(const yarp::os::idl::WireWriter& writer) const;
147 bool nested_read_motorVelocity(yarp::os::idl::WireReader& reader);
148 bool nested_write_motorVelocity(const yarp::os::idl::WireWriter& writer) const;
149
150 // read/write motorVelocity_isValid field
151 bool read_motorVelocity_isValid(yarp::os::idl::WireReader& reader);
152 bool write_motorVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
153 bool nested_read_motorVelocity_isValid(yarp::os::idl::WireReader& reader);
154 bool nested_write_motorVelocity_isValid(const yarp::os::idl::WireWriter& writer) const;
155
156 // read/write motorAcceleration field
157 bool read_motorAcceleration(yarp::os::idl::WireReader& reader);
158 bool write_motorAcceleration(const yarp::os::idl::WireWriter& writer) const;
159 bool nested_read_motorAcceleration(yarp::os::idl::WireReader& reader);
160 bool nested_write_motorAcceleration(const yarp::os::idl::WireWriter& writer) const;
161
162 // read/write motorAcceleration_isValid field
163 bool read_motorAcceleration_isValid(yarp::os::idl::WireReader& reader);
164 bool write_motorAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
165 bool nested_read_motorAcceleration_isValid(yarp::os::idl::WireReader& reader);
166 bool nested_write_motorAcceleration_isValid(const yarp::os::idl::WireWriter& writer) const;
167
168 // read/write torque field
169 bool read_torque(yarp::os::idl::WireReader& reader);
170 bool write_torque(const yarp::os::idl::WireWriter& writer) const;
171 bool nested_read_torque(yarp::os::idl::WireReader& reader);
172 bool nested_write_torque(const yarp::os::idl::WireWriter& writer) const;
173
174 // read/write torque_isValid field
175 bool read_torque_isValid(yarp::os::idl::WireReader& reader);
176 bool write_torque_isValid(const yarp::os::idl::WireWriter& writer) const;
177 bool nested_read_torque_isValid(yarp::os::idl::WireReader& reader);
178 bool nested_write_torque_isValid(const yarp::os::idl::WireWriter& writer) const;
179
180 // read/write pwmDutycycle field
181 bool read_pwmDutycycle(yarp::os::idl::WireReader& reader);
182 bool write_pwmDutycycle(const yarp::os::idl::WireWriter& writer) const;
183 bool nested_read_pwmDutycycle(yarp::os::idl::WireReader& reader);
184 bool nested_write_pwmDutycycle(const yarp::os::idl::WireWriter& writer) const;
185
186 // read/write pwmDutycycle_isValid field
187 bool read_pwmDutycycle_isValid(yarp::os::idl::WireReader& reader);
188 bool write_pwmDutycycle_isValid(const yarp::os::idl::WireWriter& writer) const;
189 bool nested_read_pwmDutycycle_isValid(yarp::os::idl::WireReader& reader);
190 bool nested_write_pwmDutycycle_isValid(const yarp::os::idl::WireWriter& writer) const;
191
192 // read/write current field
193 bool read_current(yarp::os::idl::WireReader& reader);
194 bool write_current(const yarp::os::idl::WireWriter& writer) const;
195 bool nested_read_current(yarp::os::idl::WireReader& reader);
196 bool nested_write_current(const yarp::os::idl::WireWriter& writer) const;
197
198 // read/write current_isValid field
199 bool read_current_isValid(yarp::os::idl::WireReader& reader);
200 bool write_current_isValid(const yarp::os::idl::WireWriter& writer) const;
201 bool nested_read_current_isValid(yarp::os::idl::WireReader& reader);
202 bool nested_write_current_isValid(const yarp::os::idl::WireWriter& writer) const;
203
204 // read/write controlMode field
205 bool read_controlMode(yarp::os::idl::WireReader& reader);
206 bool write_controlMode(const yarp::os::idl::WireWriter& writer) const;
207 bool nested_read_controlMode(yarp::os::idl::WireReader& reader);
208 bool nested_write_controlMode(const yarp::os::idl::WireWriter& writer) const;
209
210 // read/write controlMode_isValid field
211 bool read_controlMode_isValid(yarp::os::idl::WireReader& reader);
212 bool write_controlMode_isValid(const yarp::os::idl::WireWriter& writer) const;
213 bool nested_read_controlMode_isValid(yarp::os::idl::WireReader& reader);
214 bool nested_write_controlMode_isValid(const yarp::os::idl::WireWriter& writer) const;
215
216 // read/write interactionMode field
217 bool read_interactionMode(yarp::os::idl::WireReader& reader);
218 bool write_interactionMode(const yarp::os::idl::WireWriter& writer) const;
219 bool nested_read_interactionMode(yarp::os::idl::WireReader& reader);
220 bool nested_write_interactionMode(const yarp::os::idl::WireWriter& writer) const;
221
222 // read/write interactionMode_isValid field
223 bool read_interactionMode_isValid(yarp::os::idl::WireReader& reader);
224 bool write_interactionMode_isValid(const yarp::os::idl::WireWriter& writer) const;
225 bool nested_read_interactionMode_isValid(yarp::os::idl::WireReader& reader);
226 bool nested_write_interactionMode_isValid(const yarp::os::idl::WireWriter& writer) const;
227};
228
229} // namespace yarp::dev::impl
230
231#endif // YARP_THRIFT_GENERATOR_STRUCT_JOINTDATA_H
Vector.h
contains the definition of a Vector type
yarp::dev::impl::jointData::unwrapped
yarp::os::idl::Unwrapped< jointData > unwrapped
Definition: jointData.h:93
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::idl::WirePortable
A "tamed" Portable, that promises to serialize itself in an IDL-friendly way.
Definition: WirePortable.h:21
yarp::os::idl::WireReader
IDL-friendly connection reader.
Definition: WireReader.h:27
yarp::os::idl::WireWriter
IDL-friendly connection writer.
Definition: WireWriter.h:28
toString
std::string toString(const T &value)
convert an arbitrary type to string.
Definition: fakeMotionControl.cpp:125
yarp::sig::file::read
bool read(ImageOf< PixelRgb > &dest, const std::string &src, image_fileformat format=FORMAT_ANY)
Definition: ImageFile.cpp:915
yarp::sig::file::write
bool write(const ImageOf< PixelRgb > &src, const std::string &dest, image_fileformat format=FORMAT_PPM)
Definition: ImageFile.cpp:1091
api.h
YARP_dev_API
#define YARP_dev_API
Definition: api.h:18