sensor_msgs.msg.dds.JointState Maven / Gradle / Ivy

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package sensor_msgs.msg.dds;

import us.ihmc.communication.packets.Packet;
import us.ihmc.euclid.interfaces.Settable;
import us.ihmc.euclid.interfaces.EpsilonComparable;
import java.util.function.Supplier;
import us.ihmc.pubsub.TopicDataType;

/**
       * This is a message that holds data to describe the state of a set of torque controlled joints.
       * 
       * The state of each joint (revolute or prismatic) is defined by:
       * * the position of the joint (rad or m),
       * * the velocity of the joint (rad/s or m/s) and
       * * the effort that is applied in the joint (Nm or N).
       * 
       * Each joint is uniquely identified by its name
       * The header specifies the time at which the joint states were recorded. All the joint states
       * in one message have to be recorded at the same time.
       * 
       * This message consists of a multiple arrays, one for each part of the joint state.
       * The goal is to make each of the fields optional. When e.g. your joints have no
       * effort associated with them, you can leave the effort array empty.
       * 
       * All arrays in this message should have the same size, or be empty.
       * This is the only way to uniquely associate the joint name with the correct
       * states.
       */
public class JointState extends Packet implements Settable, EpsilonComparable
{
   public std_msgs.msg.dds.Header header_;
   public us.ihmc.idl.IDLSequence.StringBuilderHolder  name_;
   public us.ihmc.idl.IDLSequence.Double  position_;
   public us.ihmc.idl.IDLSequence.Double  velocity_;
   public us.ihmc.idl.IDLSequence.Double  effort_;

   public JointState()
   {
      header_ = new std_msgs.msg.dds.Header();
      name_ = new us.ihmc.idl.IDLSequence.StringBuilderHolder (100, "type_d");
      position_ = new us.ihmc.idl.IDLSequence.Double (100, "type_6");

      velocity_ = new us.ihmc.idl.IDLSequence.Double (100, "type_6");

      effort_ = new us.ihmc.idl.IDLSequence.Double (100, "type_6");

   }

   public JointState(JointState other)
   {
      this();
      set(other);
   }

   public void set(JointState other)
   {
      std_msgs.msg.dds.HeaderPubSubType.staticCopy(other.header_, header_);
      name_.set(other.name_);
      position_.set(other.position_);
      velocity_.set(other.velocity_);
      effort_.set(other.effort_);
   }


   public std_msgs.msg.dds.Header getHeader()
   {
      return header_;
   }


   public us.ihmc.idl.IDLSequence.StringBuilderHolder  getName()
   {
      return name_;
   }


   public us.ihmc.idl.IDLSequence.Double  getPosition()
   {
      return position_;
   }


   public us.ihmc.idl.IDLSequence.Double  getVelocity()
   {
      return velocity_;
   }


   public us.ihmc.idl.IDLSequence.Double  getEffort()
   {
      return effort_;
   }


   public static Supplier getPubSubType()
   {
      return JointStatePubSubType::new;
   }

   @Override
   public Supplier getPubSubTypePacket()
   {
      return JointStatePubSubType::new;
   }

   @Override
   public boolean epsilonEquals(JointState other, double epsilon)
   {
      if(other == null) return false;
      if(other == this) return true;

      if (!this.header_.epsilonEquals(other.header_, epsilon)) return false;
      if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilderSequence(this.name_, other.name_, epsilon)) return false;

      if (!us.ihmc.idl.IDLTools.epsilonEqualsDoubleSequence(this.position_, other.position_, epsilon)) return false;

      if (!us.ihmc.idl.IDLTools.epsilonEqualsDoubleSequence(this.velocity_, other.velocity_, epsilon)) return false;

      if (!us.ihmc.idl.IDLTools.epsilonEqualsDoubleSequence(this.effort_, other.effort_, epsilon)) return false;


      return true;
   }

   @Override
   public boolean equals(Object other)
   {
      if(other == null) return false;
      if(other == this) return true;
      if(!(other instanceof JointState)) return false;

      JointState otherMyClass = (JointState) other;

      if (!this.header_.equals(otherMyClass.header_)) return false;
      if (!this.name_.equals(otherMyClass.name_)) return false;
      if (!this.position_.equals(otherMyClass.position_)) return false;
      if (!this.velocity_.equals(otherMyClass.velocity_)) return false;
      if (!this.effort_.equals(otherMyClass.effort_)) return false;

      return true;
   }

   @Override
   public java.lang.String toString()
   {
      StringBuilder builder = new StringBuilder();

      builder.append("JointState {");
      builder.append("header=");
      builder.append(this.header_);      builder.append(", ");
      builder.append("name=");
      builder.append(this.name_);      builder.append(", ");
      builder.append("position=");
      builder.append(this.position_);      builder.append(", ");
      builder.append("velocity=");
      builder.append(this.velocity_);      builder.append(", ");
      builder.append("effort=");
      builder.append(this.effort_);
      builder.append("}");
      return builder.toString();
   }
}