Pose.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
// This is an automatically generated file.
 
// Generated from the following "geometry_msgs/Pose" msg definition:
//   # A representation of pose in free space, composed of position and orientation. 
//   Point position
//   Quaternion orientation
// Instances of this class can be read and written with YARP ports,
// using a ROS-compatible format.
 
#ifndef YARP_ROSMSG_geometry_msgs_Pose_h
#define YARP_ROSMSG_geometry_msgs_Pose_h
 
#include <yarp/os/Wire.h>
#include <yarp/os/Type.h>
#include <yarp/os/idl/WireTypes.h>
#include <string>
#include <vector>
#include <yarp/rosmsg/geometry_msgs/Point.h>
#include <yarp/rosmsg/geometry_msgs/Quaternion.h>
 
namespace yarp {
namespace rosmsg {
namespace geometry_msgs {
 
class Pose : public yarp::os::idl::WirePortable
{
public:
    yarp::rosmsg::geometry_msgs::Point position;
    yarp::rosmsg::geometry_msgs::Quaternion orientation;
 
    Pose() :
            position(),
            orientation()
    {
    }
 
    void clear()
    {
        // *** position ***
        position.clear();
 
        // *** orientation ***
        orientation.clear();
    }
 
    bool readBare(yarp::os::ConnectionReader& connection) override
    {
        // *** position ***
        if (!position.read(connection)) {
            return false;
        }
 
        // *** orientation ***
        if (!orientation.read(connection)) {
            return false;
        }
 
        return !connection.isError();
    }
 
    bool readBottle(yarp::os::ConnectionReader& connection) override
    {
        connection.convertTextMode();
        yarp::os::idl::WireReader reader(connection);
        if (!reader.readListHeader(2)) {
            return false;
        }
 
        // *** position ***
        if (!position.read(connection)) {
            return false;
        }
 
        // *** orientation ***
        if (!orientation.read(connection)) {
            return false;
        }
 
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::read;
    bool read(yarp::os::ConnectionReader& connection) override
    {
        return (connection.isBareMode() ? readBare(connection)
                                        : readBottle(connection));
    }
 
    bool writeBare(yarp::os::ConnectionWriter& connection) const override
    {
        // *** position ***
        if (!position.write(connection)) {
            return false;
        }
 
        // *** orientation ***
        if (!orientation.write(connection)) {
            return false;
        }
 
        return !connection.isError();
    }
 
    bool writeBottle(yarp::os::ConnectionWriter& connection) const override
    {
        connection.appendInt32(BOTTLE_TAG_LIST);
        connection.appendInt32(2);
 
        // *** position ***
        if (!position.write(connection)) {
            return false;
        }
 
        // *** orientation ***
        if (!orientation.write(connection)) {
            return false;
        }
 
        connection.convertTextMode();
        return !connection.isError();
    }
 
    using yarp::os::idl::WirePortable::write;
    bool write(yarp::os::ConnectionWriter& connection) const override
    {
        return (connection.isBareMode() ? writeBare(connection)
                                        : writeBottle(connection));
    }
 
    // This class will serialize ROS style or YARP style depending on protocol.
    // If you need to force a serialization style, use one of these classes:
    typedef yarp::os::idl::BareStyle<yarp::rosmsg::geometry_msgs::Pose> rosStyle;
    typedef yarp::os::idl::BottleStyle<yarp::rosmsg::geometry_msgs::Pose> bottleStyle;
 
    // The name for this message, ROS will need this
    static constexpr const char* typeName = "geometry_msgs/Pose";
 
    // The checksum for this message, ROS will need this
    static constexpr const char* typeChecksum = "e45d45a5a1ce597b249e23fb30fc871f";
 
    // The source text for this message, ROS will need this
    static constexpr const char* typeText = "\
# A representation of pose in free space, composed of position and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
";
 
    yarp::os::Type getType() const override
    {
        yarp::os::Type typ = yarp::os::Type::byName(typeName, typeName);
        typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
        typ.addProperty("message_definition", yarp::os::Value(typeText));
        return typ;
    }
};
 
} // namespace geometry_msgs
} // namespace rosmsg
} // namespace yarp
 
#endif // YARP_ROSMSG_geometry_msgs_Pose_h