836 lines
49 KiB
Common Lisp
836 lines
49 KiB
Common Lisp
; Auto-generated. Do not edit!
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(cl:in-package ur_msgs-msg)
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;//! \htmlinclude RobotStateRTMsg.msg.html
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(cl:defclass <RobotStateRTMsg> (roslisp-msg-protocol:ros-message)
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((time
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:reader time
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:initarg :time
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:type cl:float
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:initform 0.0)
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(q_target
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:reader q_target
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:initarg :q_target
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(qd_target
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:reader qd_target
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:initarg :qd_target
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(qdd_target
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:reader qdd_target
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:initarg :qdd_target
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(i_target
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:reader i_target
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:initarg :i_target
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(m_target
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:reader m_target
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:initarg :m_target
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(q_actual
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:reader q_actual
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:initarg :q_actual
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(qd_actual
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:reader qd_actual
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:initarg :qd_actual
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(i_actual
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:reader i_actual
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:initarg :i_actual
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(tool_acc_values
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:reader tool_acc_values
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:initarg :tool_acc_values
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(tcp_force
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:reader tcp_force
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:initarg :tcp_force
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(tool_vector
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:reader tool_vector
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:initarg :tool_vector
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(tcp_speed
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:reader tcp_speed
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:initarg :tcp_speed
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(digital_input_bits
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:reader digital_input_bits
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:initarg :digital_input_bits
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:type cl:float
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:initform 0.0)
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(motor_temperatures
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:reader motor_temperatures
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:initarg :motor_temperatures
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
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(controller_timer
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:reader controller_timer
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:initarg :controller_timer
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:type cl:float
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:initform 0.0)
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(test_value
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:reader test_value
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:initarg :test_value
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:type cl:float
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:initform 0.0)
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(robot_mode
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:reader robot_mode
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:initarg :robot_mode
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:type cl:float
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:initform 0.0)
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(joint_modes
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:reader joint_modes
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:initarg :joint_modes
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:type (cl:vector cl:float)
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:initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)))
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)
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(cl:defclass RobotStateRTMsg (<RobotStateRTMsg>)
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())
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(cl:defmethod cl:initialize-instance :after ((m <RobotStateRTMsg>) cl:&rest args)
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(cl:declare (cl:ignorable args))
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(cl:unless (cl:typep m 'RobotStateRTMsg)
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(roslisp-msg-protocol:msg-deprecation-warning "using old message class name ur_msgs-msg:<RobotStateRTMsg> is deprecated: use ur_msgs-msg:RobotStateRTMsg instead.")))
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(cl:ensure-generic-function 'time-val :lambda-list '(m))
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(cl:defmethod time-val ((m <RobotStateRTMsg>))
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(roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ur_msgs-msg:time-val is deprecated. Use ur_msgs-msg:time instead.")
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(time m))
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(cl:ensure-generic-function 'q_target-val :lambda-list '(m))
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(cl:defmethod q_target-val ((m <RobotStateRTMsg>))
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(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.")
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(q_target m))
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(cl:ensure-generic-function 'qd_target-val :lambda-list '(m))
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(cl:defmethod qd_target-val ((m <RobotStateRTMsg>))
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(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.")
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(qd_target m))
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(cl:ensure-generic-function 'qdd_target-val :lambda-list '(m))
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(cl:defmethod qdd_target-val ((m <RobotStateRTMsg>))
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(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.")
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(qdd_target m))
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(cl:ensure-generic-function 'i_target-val :lambda-list '(m))
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(cl:defmethod i_target-val ((m <RobotStateRTMsg>))
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(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.")
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(i_target m))
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(cl:ensure-generic-function 'm_target-val :lambda-list '(m))
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(cl:defmethod m_target-val ((m <RobotStateRTMsg>))
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(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.")
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(m_target m))
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(cl:ensure-generic-function 'q_actual-val :lambda-list '(m))
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(cl:defmethod q_actual-val ((m <RobotStateRTMsg>))
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(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.")
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(q_actual m))
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(cl:ensure-generic-function 'qd_actual-val :lambda-list '(m))
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(cl:defmethod qd_actual-val ((m <RobotStateRTMsg>))
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(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.")
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(qd_actual m))
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(cl:ensure-generic-function 'i_actual-val :lambda-list '(m))
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(cl:defmethod i_actual-val ((m <RobotStateRTMsg>))
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(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.")
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(i_actual m))
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(cl:ensure-generic-function 'tool_acc_values-val :lambda-list '(m))
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(cl:defmethod tool_acc_values-val ((m <RobotStateRTMsg>))
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(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.")
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(tool_acc_values m))
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(cl:ensure-generic-function 'tcp_force-val :lambda-list '(m))
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(cl:defmethod tcp_force-val ((m <RobotStateRTMsg>))
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(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.")
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(tcp_force m))
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(cl:ensure-generic-function 'tool_vector-val :lambda-list '(m))
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(cl:defmethod tool_vector-val ((m <RobotStateRTMsg>))
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(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.")
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(tool_vector m))
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(cl:ensure-generic-function 'tcp_speed-val :lambda-list '(m))
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(cl:defmethod tcp_speed-val ((m <RobotStateRTMsg>))
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(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.")
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(tcp_speed m))
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(cl:ensure-generic-function 'digital_input_bits-val :lambda-list '(m))
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(cl:defmethod digital_input_bits-val ((m <RobotStateRTMsg>))
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(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.")
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(digital_input_bits m))
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(cl:ensure-generic-function 'motor_temperatures-val :lambda-list '(m))
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(cl:defmethod motor_temperatures-val ((m <RobotStateRTMsg>))
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(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.")
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(motor_temperatures m))
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(cl:ensure-generic-function 'controller_timer-val :lambda-list '(m))
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(cl:defmethod controller_timer-val ((m <RobotStateRTMsg>))
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(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.")
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(controller_timer m))
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(cl:ensure-generic-function 'test_value-val :lambda-list '(m))
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(cl:defmethod test_value-val ((m <RobotStateRTMsg>))
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(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.")
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(test_value m))
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(cl:ensure-generic-function 'robot_mode-val :lambda-list '(m))
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(cl:defmethod robot_mode-val ((m <RobotStateRTMsg>))
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(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.")
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(robot_mode m))
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(cl:ensure-generic-function 'joint_modes-val :lambda-list '(m))
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(cl:defmethod joint_modes-val ((m <RobotStateRTMsg>))
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(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.")
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(joint_modes m))
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(cl:defmethod roslisp-msg-protocol:serialize ((msg <RobotStateRTMsg>) ostream)
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"Serializes a message object of type '<RobotStateRTMsg>"
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(cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'time))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
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(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'q_target))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
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(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
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(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
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(cl:slot-value msg 'q_target))
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(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qd_target))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
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(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
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(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
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(cl:slot-value msg 'qd_target))
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(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qdd_target))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
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(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
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(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
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(cl:slot-value msg 'qdd_target))
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(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'i_target))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
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(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
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(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
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(cl:slot-value msg 'i_target))
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(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'm_target))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
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(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
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(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
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(cl:slot-value msg 'm_target))
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(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'q_actual))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
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(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
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(cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
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(cl:slot-value msg 'q_actual))
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(cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'qd_actual))))
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(cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
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(cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
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(cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
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(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 <RobotStateRTMsg>) istream)
|
|
"Deserializes a message object of type '<RobotStateRTMsg>"
|
|
(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 '<RobotStateRTMsg>)))
|
|
"Returns string type for a message object of type '<RobotStateRTMsg>"
|
|
"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 '<RobotStateRTMsg>)))
|
|
"Returns md5sum for a message object of type '<RobotStateRTMsg>"
|
|
"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 '<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: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 <RobotStateRTMsg>))
|
|
(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 <RobotStateRTMsg>))
|
|
"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))
|
|
))
|