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spi_command_t.hpp
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/** THIS IS AN AUTOMATICALLY GENERATED FILE. DO NOT MODIFY
* BY HAND!!
*
* Generated by lcm-gen
**/
#ifndef __spi_command_t_hpp__
#define __spi_command_t_hpp__
#include <lcm/lcm_coretypes.h>
class spi_command_t
{
public:
float q_des_abad[4];
float q_des_hip[4];
float q_des_knee[4];
float qd_des_abad[4];
float qd_des_hip[4];
float qd_des_knee[4];
float kp_abad[4];
float kp_hip[4];
float kp_knee[4];
float kd_abad[4];
float kd_hip[4];
float kd_knee[4];
float tau_abad_ff[4];
float tau_hip_ff[4];
float tau_knee_ff[4];
int32_t flags[4];
public:
/**
* Encode a message into binary form.
*
* @param buf The output buffer.
* @param offset Encoding starts at thie byte offset into @p buf.
* @param maxlen Maximum number of bytes to write. This should generally be
* equal to getEncodedSize().
* @return The number of bytes encoded, or <0 on error.
*/
inline int encode(void *buf, int offset, int maxlen) const;
/**
* Check how many bytes are required to encode this message.
*/
inline int getEncodedSize() const;
/**
* Decode a message from binary form into this instance.
*
* @param buf The buffer containing the encoded message.
* @param offset The byte offset into @p buf where the encoded message starts.
* @param maxlen The maximum number of bytes to read while decoding.
* @return The number of bytes decoded, or <0 if an error occured.
*/
inline int decode(const void *buf, int offset, int maxlen);
/**
* Retrieve the 64-bit fingerprint identifying the structure of the message.
* Note that the fingerprint is the same for all instances of the same
* message type, and is a fingerprint on the message type definition, not on
* the message contents.
*/
inline static int64_t getHash();
/**
* Returns "spi_command_t"
*/
inline static const char* getTypeName();
// LCM support functions. Users should not call these
inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
inline int _getEncodedSizeNoHash() const;
inline int _decodeNoHash(const void *buf, int offset, int maxlen);
inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
};
int spi_command_t::encode(void *buf, int offset, int maxlen) const
{
int pos = 0, tlen;
int64_t hash = getHash();
tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
if(tlen < 0) return tlen; else pos += tlen;
tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
if (tlen < 0) return tlen; else pos += tlen;
return pos;
}
int spi_command_t::decode(const void *buf, int offset, int maxlen)
{
int pos = 0, thislen;
int64_t msg_hash;
thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
if (thislen < 0) return thislen; else pos += thislen;
if (msg_hash != getHash()) return -1;
thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
if (thislen < 0) return thislen; else pos += thislen;
return pos;
}
int spi_command_t::getEncodedSize() const
{
return 8 + _getEncodedSizeNoHash();
}
int64_t spi_command_t::getHash()
{
static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
return hash;
}
const char* spi_command_t::getTypeName()
{
return "spi_command_t";
}
int spi_command_t::_encodeNoHash(void *buf, int offset, int maxlen) const
{
int pos = 0, tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->q_des_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->q_des_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->q_des_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->qd_des_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->qd_des_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->qd_des_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->kp_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->kp_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->kp_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->kd_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->kd_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->kd_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->tau_abad_ff[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->tau_hip_ff[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->tau_knee_ff[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->flags[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
return pos;
}
int spi_command_t::_decodeNoHash(const void *buf, int offset, int maxlen)
{
int pos = 0, tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->q_des_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->q_des_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->q_des_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->qd_des_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->qd_des_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->qd_des_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->kp_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->kp_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->kp_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->kd_abad[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->kd_hip[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->kd_knee[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->tau_abad_ff[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->tau_hip_ff[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->tau_knee_ff[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->flags[0], 4);
if(tlen < 0) return tlen; else pos += tlen;
return pos;
}
int spi_command_t::_getEncodedSizeNoHash() const
{
int enc_size = 0;
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __float_encoded_array_size(NULL, 4);
enc_size += __int32_t_encoded_array_size(NULL, 4);
return enc_size;
}
uint64_t spi_command_t::_computeHash(const __lcm_hash_ptr *)
{
uint64_t hash = 0xecc8eaa6369bc167LL;
return (hash<<1) + ((hash>>63)&1);
}
#endif