; Auto-generated. Do not edit! (cl:in-package ur_msgs-msg) ;//! \htmlinclude RobotStateRTMsg.msg.html (cl:defclass (roslisp-msg-protocol:ros-message) ((time :reader time :initarg :time :type cl:float :initform 0.0) (q_target :reader q_target :initarg :q_target :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (qd_target :reader qd_target :initarg :qd_target :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (qdd_target :reader qdd_target :initarg :qdd_target :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (i_target :reader i_target :initarg :i_target :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (m_target :reader m_target :initarg :m_target :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (q_actual :reader q_actual :initarg :q_actual :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (qd_actual :reader qd_actual :initarg :qd_actual :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (i_actual :reader i_actual :initarg :i_actual :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (tool_acc_values :reader tool_acc_values :initarg :tool_acc_values :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (tcp_force :reader tcp_force :initarg :tcp_force :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (tool_vector :reader tool_vector :initarg :tool_vector :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (tcp_speed :reader tcp_speed :initarg :tcp_speed :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (digital_input_bits :reader digital_input_bits :initarg :digital_input_bits :type cl:float :initform 0.0) (motor_temperatures :reader motor_temperatures :initarg :motor_temperatures :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) (controller_timer :reader controller_timer :initarg :controller_timer :type cl:float :initform 0.0) (test_value :reader test_value :initarg :test_value :type cl:float :initform 0.0) (robot_mode :reader robot_mode :initarg :robot_mode :type cl:float :initform 0.0) (joint_modes :reader joint_modes :initarg :joint_modes :type (cl:vector cl:float) :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))) ) (cl:defclass RobotStateRTMsg () ()) (cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) (cl:declare (cl:ignorable args)) (cl:unless (cl:typep m 'RobotStateRTMsg) (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg: is deprecated: use ur_msgs-msg:RobotStateRTMsg instead."))) (cl:ensure-generic-function 'time-val :lambda-list '(m)) (cl:defmethod time-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:time-val is deprecated. Use ur_msgs-msg:time instead.") (time m)) (cl:ensure-generic-function 'q_target-val :lambda-list '(m)) (cl:defmethod q_target-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:q_target-val is deprecated. Use ur_msgs-msg:q_target instead.") (q_target m)) (cl:ensure-generic-function 'qd_target-val :lambda-list '(m)) (cl:defmethod qd_target-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:qd_target-val is deprecated. Use ur_msgs-msg:qd_target instead.") (qd_target m)) (cl:ensure-generic-function 'qdd_target-val :lambda-list '(m)) (cl:defmethod qdd_target-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:qdd_target-val is deprecated. Use ur_msgs-msg:qdd_target instead.") (qdd_target m)) (cl:ensure-generic-function 'i_target-val :lambda-list '(m)) (cl:defmethod i_target-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:i_target-val is deprecated. Use ur_msgs-msg:i_target instead.") (i_target m)) (cl:ensure-generic-function 'm_target-val :lambda-list '(m)) (cl:defmethod m_target-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:m_target-val is deprecated. Use ur_msgs-msg:m_target instead.") (m_target m)) (cl:ensure-generic-function 'q_actual-val :lambda-list '(m)) (cl:defmethod q_actual-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:q_actual-val is deprecated. Use ur_msgs-msg:q_actual instead.") (q_actual m)) (cl:ensure-generic-function 'qd_actual-val :lambda-list '(m)) (cl:defmethod qd_actual-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:qd_actual-val is deprecated. Use ur_msgs-msg:qd_actual instead.") (qd_actual m)) (cl:ensure-generic-function 'i_actual-val :lambda-list '(m)) (cl:defmethod i_actual-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:i_actual-val is deprecated. Use ur_msgs-msg:i_actual instead.") (i_actual m)) (cl:ensure-generic-function 'tool_acc_values-val :lambda-list '(m)) (cl:defmethod tool_acc_values-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_acc_values-val is deprecated. Use ur_msgs-msg:tool_acc_values instead.") (tool_acc_values m)) (cl:ensure-generic-function 'tcp_force-val :lambda-list '(m)) (cl:defmethod tcp_force-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tcp_force-val is deprecated. Use ur_msgs-msg:tcp_force instead.") (tcp_force m)) (cl:ensure-generic-function 'tool_vector-val :lambda-list '(m)) (cl:defmethod tool_vector-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tool_vector-val is deprecated. Use ur_msgs-msg:tool_vector instead.") (tool_vector m)) (cl:ensure-generic-function 'tcp_speed-val :lambda-list '(m)) (cl:defmethod tcp_speed-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:tcp_speed-val is deprecated. Use ur_msgs-msg:tcp_speed instead.") (tcp_speed m)) (cl:ensure-generic-function 'digital_input_bits-val :lambda-list '(m)) (cl:defmethod digital_input_bits-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:digital_input_bits-val is deprecated. Use ur_msgs-msg:digital_input_bits instead.") (digital_input_bits m)) (cl:ensure-generic-function 'motor_temperatures-val :lambda-list '(m)) (cl:defmethod motor_temperatures-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:motor_temperatures-val is deprecated. Use ur_msgs-msg:motor_temperatures instead.") (motor_temperatures m)) (cl:ensure-generic-function 'controller_timer-val :lambda-list '(m)) (cl:defmethod controller_timer-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:controller_timer-val is deprecated. Use ur_msgs-msg:controller_timer instead.") (controller_timer m)) (cl:ensure-generic-function 'test_value-val :lambda-list '(m)) (cl:defmethod test_value-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:test_value-val is deprecated. Use ur_msgs-msg:test_value instead.") (test_value m)) (cl:ensure-generic-function 'robot_mode-val :lambda-list '(m)) (cl:defmethod robot_mode-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:robot_mode-val is deprecated. Use ur_msgs-msg:robot_mode instead.") (robot_mode m)) (cl:ensure-generic-function 'joint_modes-val :lambda-list '(m)) (cl:defmethod joint_modes-val ((m )) (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:joint_modes-val is deprecated. Use ur_msgs-msg:joint_modes instead.") (joint_modes m)) (cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) "Serializes a message object of type '" (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'time)))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'q_target)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'q_target)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qd_target)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'qd_target)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qdd_target)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'qdd_target)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'i_target)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'i_target)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'm_target)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'm_target)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'q_actual)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'q_actual)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qd_actual)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'qd_actual)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'i_actual)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'i_actual)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tool_acc_values)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'tool_acc_values)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tcp_force)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'tcp_force)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tool_vector)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'tool_vector)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'tcp_speed)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'tcp_speed)) (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'digital_input_bits)))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'motor_temperatures)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'motor_temperatures)) (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'controller_timer)))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)) (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'test_value)))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)) (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'robot_mode)))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)) (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'joint_modes)))) (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele))) (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream) (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))) (cl:slot-value msg 'joint_modes)) ) (cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) "Deserializes a message object of type '" (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'time) (roslisp-utils:decode-double-float-bits bits))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'q_target) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'q_target))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'qd_target) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'qd_target))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'qdd_target) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'qdd_target))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'i_target) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'i_target))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'm_target) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'm_target))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'q_actual) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'q_actual))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'qd_actual) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'qd_actual))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'i_actual) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'i_actual))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'tool_acc_values) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'tool_acc_values))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'tcp_force) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'tcp_force))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'tool_vector) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'tool_vector))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'tcp_speed) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'tcp_speed))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'digital_input_bits) (roslisp-utils:decode-double-float-bits bits))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'motor_temperatures) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'motor_temperatures))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'controller_timer) (roslisp-utils:decode-double-float-bits bits))) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'test_value) (roslisp-utils:decode-double-float-bits bits))) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'robot_mode) (roslisp-utils:decode-double-float-bits bits))) (cl:let ((__ros_arr_len 0)) (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) (cl:setf (cl:slot-value msg 'joint_modes) (cl:make-array __ros_arr_len)) (cl:let ((vals (cl:slot-value msg 'joint_modes))) (cl:dotimes (i __ros_arr_len) (cl:let ((bits 0)) (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream)) (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream)) (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits)))))) msg ) (cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) "Returns string type for a message object of type '" "ur_msgs/RobotStateRTMsg") (cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RobotStateRTMsg))) "Returns string type for a message object of type 'RobotStateRTMsg" "ur_msgs/RobotStateRTMsg") (cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) "Returns md5sum for a message object of type '" "ce6feddd3ccb4ca7dbcd0ff105b603c7") (cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RobotStateRTMsg))) "Returns md5sum for a message object of type 'RobotStateRTMsg" "ce6feddd3ccb4ca7dbcd0ff105b603c7") (cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) "Returns full string definition for message of type '" (cl:format cl:nil "# Data structure for the realtime communications interface (aka Matlab interface)~%# used by the Universal Robots controller~%# ~%# This data structure is send at 125 Hz on TCP port 30003~%# ~%# Dokumentation can be found on the Universal Robots Support Wiki~%# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)~%~%float64 time~%float64[] q_target~%float64[] qd_target~%float64[] qdd_target~%float64[] i_target~%float64[] m_target~%float64[] q_actual~%float64[] qd_actual~%float64[] i_actual~%float64[] tool_acc_values~%float64[] tcp_force~%float64[] tool_vector~%float64[] tcp_speed~%float64 digital_input_bits~%float64[] motor_temperatures~%float64 controller_timer~%float64 test_value~%float64 robot_mode~%float64[] joint_modes~%~%~%")) (cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RobotStateRTMsg))) "Returns full string definition for message of type 'RobotStateRTMsg" (cl:format cl:nil "# Data structure for the realtime communications interface (aka Matlab interface)~%# used by the Universal Robots controller~%# ~%# This data structure is send at 125 Hz on TCP port 30003~%# ~%# Dokumentation can be found on the Universal Robots Support Wiki~%# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)~%~%float64 time~%float64[] q_target~%float64[] qd_target~%float64[] qdd_target~%float64[] i_target~%float64[] m_target~%float64[] q_actual~%float64[] qd_actual~%float64[] i_actual~%float64[] tool_acc_values~%float64[] tcp_force~%float64[] tool_vector~%float64[] tcp_speed~%float64 digital_input_bits~%float64[] motor_temperatures~%float64 controller_timer~%float64 test_value~%float64 robot_mode~%float64[] joint_modes~%~%~%")) (cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) (cl:+ 0 8 4 (cl:reduce #'cl:+ (cl:slot-value msg 'q_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'qd_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'qdd_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'i_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'm_target) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'q_actual) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'qd_actual) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'i_actual) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'tool_acc_values) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'tcp_force) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'tool_vector) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 4 (cl:reduce #'cl:+ (cl:slot-value msg 'tcp_speed) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 8 4 (cl:reduce #'cl:+ (cl:slot-value msg 'motor_temperatures) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) 8 8 8 4 (cl:reduce #'cl:+ (cl:slot-value msg 'joint_modes) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8))) )) (cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) "Converts a ROS message object to a list" (cl:list 'RobotStateRTMsg (cl:cons ':time (time msg)) (cl:cons ':q_target (q_target msg)) (cl:cons ':qd_target (qd_target msg)) (cl:cons ':qdd_target (qdd_target msg)) (cl:cons ':i_target (i_target msg)) (cl:cons ':m_target (m_target msg)) (cl:cons ':q_actual (q_actual msg)) (cl:cons ':qd_actual (qd_actual msg)) (cl:cons ':i_actual (i_actual msg)) (cl:cons ':tool_acc_values (tool_acc_values msg)) (cl:cons ':tcp_force (tcp_force msg)) (cl:cons ':tool_vector (tool_vector msg)) (cl:cons ':tcp_speed (tcp_speed msg)) (cl:cons ':digital_input_bits (digital_input_bits msg)) (cl:cons ':motor_temperatures (motor_temperatures msg)) (cl:cons ':controller_timer (controller_timer msg)) (cl:cons ':test_value (test_value msg)) (cl:cons ':robot_mode (robot_mode msg)) (cl:cons ':joint_modes (joint_modes msg)) ))