YARP
Yet Another Robot Platform
TwistWithCovariance.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 // This is an automatically generated file.
7 
8 // Generated from the following "geometry_msgs/TwistWithCovariance" msg definition:
9 // # This expresses velocity in free space with uncertainty.
10 //
11 // Twist twist
12 //
13 // # Row-major representation of the 6x6 covariance matrix
14 // # The orientation parameters use a fixed-axis representation.
15 // # In order, the parameters are:
16 // # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
17 // float64[36] covariance
18 // Instances of this class can be read and written with YARP ports,
19 // using a ROS-compatible format.
20 
21 #ifndef YARP_ROSMSG_geometry_msgs_TwistWithCovariance_h
22 #define YARP_ROSMSG_geometry_msgs_TwistWithCovariance_h
23 
24 #include <yarp/os/Wire.h>
25 #include <yarp/os/Type.h>
26 #include <yarp/os/idl/WireTypes.h>
27 #include <string>
28 #include <vector>
30 
31 namespace yarp {
32 namespace rosmsg {
33 namespace geometry_msgs {
34 
36 {
37 public:
39  std::vector<yarp::conf::float64_t> covariance;
40 
42  twist(),
43  covariance()
44  {
45  covariance.resize(36, 0.0);
46  }
47 
48  void clear()
49  {
50  // *** twist ***
51  twist.clear();
52 
53  // *** covariance ***
54  covariance.clear();
55  covariance.resize(36, 0.0);
56  }
57 
58  bool readBare(yarp::os::ConnectionReader& connection) override
59  {
60  // *** twist ***
61  if (!twist.read(connection)) {
62  return false;
63  }
64 
65  // *** covariance ***
66  int len = 36;
67  covariance.resize(len);
68  if (len > 0 && !connection.expectBlock((char*)&covariance[0], sizeof(yarp::conf::float64_t)*len)) {
69  return false;
70  }
71 
72  return !connection.isError();
73  }
74 
75  bool readBottle(yarp::os::ConnectionReader& connection) override
76  {
77  connection.convertTextMode();
78  yarp::os::idl::WireReader reader(connection);
79  if (!reader.readListHeader(2)) {
80  return false;
81  }
82 
83  // *** twist ***
84  if (!twist.read(connection)) {
85  return false;
86  }
87 
88  // *** covariance ***
89  if (connection.expectInt32() != (BOTTLE_TAG_LIST|BOTTLE_TAG_FLOAT64)) {
90  return false;
91  }
92  int len = connection.expectInt32();
93  covariance.resize(len);
94  for (int i=0; i<len; i++) {
96  }
97 
98  return !connection.isError();
99  }
100 
102  bool read(yarp::os::ConnectionReader& connection) override
103  {
104  return (connection.isBareMode() ? readBare(connection)
105  : readBottle(connection));
106  }
107 
108  bool writeBare(yarp::os::ConnectionWriter& connection) const override
109  {
110  // *** twist ***
111  if (!twist.write(connection)) {
112  return false;
113  }
114 
115  // *** covariance ***
116  if (covariance.size()>0) {
117  connection.appendExternalBlock((char*)&covariance[0], sizeof(yarp::conf::float64_t)*covariance.size());
118  }
119 
120  return !connection.isError();
121  }
122 
123  bool writeBottle(yarp::os::ConnectionWriter& connection) const override
124  {
125  connection.appendInt32(BOTTLE_TAG_LIST);
126  connection.appendInt32(2);
127 
128  // *** twist ***
129  if (!twist.write(connection)) {
130  return false;
131  }
132 
133  // *** covariance ***
135  connection.appendInt32(covariance.size());
136  for (size_t i=0; i<covariance.size(); i++) {
137  connection.appendFloat64(covariance[i]);
138  }
139 
140  connection.convertTextMode();
141  return !connection.isError();
142  }
143 
145  bool write(yarp::os::ConnectionWriter& connection) const override
146  {
147  return (connection.isBareMode() ? writeBare(connection)
148  : writeBottle(connection));
149  }
150 
151  // This class will serialize ROS style or YARP style depending on protocol.
152  // If you need to force a serialization style, use one of these classes:
155 
156  // The name for this message, ROS will need this
157  static constexpr const char* typeName = "geometry_msgs/TwistWithCovariance";
158 
159  // The checksum for this message, ROS will need this
160  static constexpr const char* typeChecksum = "1fe8a28e6890a4cc3ae4c3ca5c7d82e6";
161 
162  // The source text for this message, ROS will need this
163  static constexpr const char* typeText = "\
164 # This expresses velocity in free space with uncertainty.\n\
165 \n\
166 Twist twist\n\
167 \n\
168 # Row-major representation of the 6x6 covariance matrix\n\
169 # The orientation parameters use a fixed-axis representation.\n\
170 # In order, the parameters are:\n\
171 # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)\n\
172 float64[36] covariance\n\
173 \n\
174 ================================================================================\n\
175 MSG: geometry_msgs/Twist\n\
176 # This expresses velocity in free space broken into its linear and angular parts.\n\
177 Vector3 linear\n\
178 Vector3 angular\n\
179 \n\
180 ================================================================================\n\
181 MSG: geometry_msgs/Vector3\n\
182 # This represents a vector in free space. \n\
183 # It is only meant to represent a direction. Therefore, it does not\n\
184 # make sense to apply a translation to it (e.g., when applying a \n\
185 # generic rigid transformation to a Vector3, tf2 will only apply the\n\
186 # rotation). If you want your data to be translatable too, use the\n\
187 # geometry_msgs/Point message instead.\n\
188 \n\
189 float64 x\n\
190 float64 y\n\
191 float64 z\n\
192 ";
193 
194  yarp::os::Type getType() const override
195  {
197  typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
198  typ.addProperty("message_definition", yarp::os::Value(typeText));
199  return typ;
200  }
201 };
202 
203 } // namespace geometry_msgs
204 } // namespace rosmsg
205 } // namespace yarp
206 
207 #endif // YARP_ROSMSG_geometry_msgs_TwistWithCovariance_h
#define BOTTLE_TAG_FLOAT64
Definition: Bottle.h:25
#define BOTTLE_TAG_LIST
Definition: Bottle.h:28
An interface for reading from a network connection.
virtual bool expectBlock(char *data, size_t len)=0
Read a block of data from the network connection.
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual std::int32_t expectInt32()=0
Read a 32-bit integer from the network connection.
virtual bool convertTextMode()=0
Reads in a standard description in text mode, and converts it to a standard description in binary.
virtual bool isError() const =0
virtual yarp::conf::float64_t expectFloat64()=0
Read a 64-bit floating point number from the network connection.
An interface for writing to a network connection.
virtual bool isError() const =0
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual void appendExternalBlock(const char *data, size_t len)=0
Send a block of data to the network connection, without making a copy.
virtual bool convertTextMode()=0
Converts a standard description in binary into a textual description, if the connection is in text-mo...
virtual void appendInt32(std::int32_t data)=0
Send a representation of a 32-bit integer to the network connection.
virtual void appendFloat64(yarp::conf::float64_t data)=0
Send a representation of a 64-bit floating point number to the network connection.
static Type byName(const char *name)
Definition: Type.cpp:171
Type & addProperty(const char *key, const Value &val)
Definition: Type.cpp:134
A single value (typically within a Bottle).
Definition: Value.h:43
A "tamed" Portable, that promises to serialize itself in an IDL-friendly way.
Definition: WirePortable.h:21
virtual bool read(yarp::os::idl::WireReader &reader)
virtual bool write(const yarp::os::idl::WireWriter &writer) const
IDL-friendly connection reader.
Definition: WireReader.h:27
yarp::os::idl::BottleStyle< yarp::rosmsg::geometry_msgs::TwistWithCovariance > bottleStyle
bool writeBare(yarp::os::ConnectionWriter &connection) const override
yarp::os::idl::BareStyle< yarp::rosmsg::geometry_msgs::TwistWithCovariance > rosStyle
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool readBare(yarp::os::ConnectionReader &connection) override
bool writeBottle(yarp::os::ConnectionWriter &connection) const override
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
std::vector< yarp::conf::float64_t > covariance
bool readBottle(yarp::os::ConnectionReader &connection) override
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: Twist.h:128
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: Twist.h:87
double float64_t
Definition: numeric.h:77
The main, catch-all namespace for YARP.
Definition: dirs.h:16