400 lines
15 KiB
Common Lisp
400 lines
15 KiB
Common Lisp
;; Auto-generated. Do not edit!
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(when (boundp 'ur_msgs::RobotStateRTMsg)
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(if (not (find-package "UR_MSGS"))
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(make-package "UR_MSGS"))
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(shadow 'RobotStateRTMsg (find-package "UR_MSGS")))
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(unless (find-package "UR_MSGS::ROBOTSTATERTMSG")
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(make-package "UR_MSGS::ROBOTSTATERTMSG"))
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(in-package "ROS")
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;;//! \htmlinclude RobotStateRTMsg.msg.html
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(defclass ur_msgs::RobotStateRTMsg
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:super ros::object
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:slots (_time _q_target _qd_target _qdd_target _i_target _m_target _q_actual _qd_actual _i_actual _tool_acc_values _tcp_force _tool_vector _tcp_speed _digital_input_bits _motor_temperatures _controller_timer _test_value _robot_mode _joint_modes ))
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(defmethod ur_msgs::RobotStateRTMsg
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(:init
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(&key
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((:time __time) 0.0)
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((:q_target __q_target) (make-array 0 :initial-element 0.0 :element-type :float))
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((:qd_target __qd_target) (make-array 0 :initial-element 0.0 :element-type :float))
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((:qdd_target __qdd_target) (make-array 0 :initial-element 0.0 :element-type :float))
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((:i_target __i_target) (make-array 0 :initial-element 0.0 :element-type :float))
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((:m_target __m_target) (make-array 0 :initial-element 0.0 :element-type :float))
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((:q_actual __q_actual) (make-array 0 :initial-element 0.0 :element-type :float))
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((:qd_actual __qd_actual) (make-array 0 :initial-element 0.0 :element-type :float))
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((:i_actual __i_actual) (make-array 0 :initial-element 0.0 :element-type :float))
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((:tool_acc_values __tool_acc_values) (make-array 0 :initial-element 0.0 :element-type :float))
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((:tcp_force __tcp_force) (make-array 0 :initial-element 0.0 :element-type :float))
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((:tool_vector __tool_vector) (make-array 0 :initial-element 0.0 :element-type :float))
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((:tcp_speed __tcp_speed) (make-array 0 :initial-element 0.0 :element-type :float))
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((:digital_input_bits __digital_input_bits) 0.0)
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((:motor_temperatures __motor_temperatures) (make-array 0 :initial-element 0.0 :element-type :float))
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((:controller_timer __controller_timer) 0.0)
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((:test_value __test_value) 0.0)
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((:robot_mode __robot_mode) 0.0)
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((:joint_modes __joint_modes) (make-array 0 :initial-element 0.0 :element-type :float))
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)
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(send-super :init)
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(setq _time (float __time))
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(setq _q_target __q_target)
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(setq _qd_target __qd_target)
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(setq _qdd_target __qdd_target)
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(setq _i_target __i_target)
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(setq _m_target __m_target)
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(setq _q_actual __q_actual)
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(setq _qd_actual __qd_actual)
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(setq _i_actual __i_actual)
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(setq _tool_acc_values __tool_acc_values)
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(setq _tcp_force __tcp_force)
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(setq _tool_vector __tool_vector)
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(setq _tcp_speed __tcp_speed)
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(setq _digital_input_bits (float __digital_input_bits))
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(setq _motor_temperatures __motor_temperatures)
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(setq _controller_timer (float __controller_timer))
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(setq _test_value (float __test_value))
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(setq _robot_mode (float __robot_mode))
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(setq _joint_modes __joint_modes)
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self)
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(:time
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(&optional __time)
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(if __time (setq _time __time)) _time)
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(:q_target
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(&optional __q_target)
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(if __q_target (setq _q_target __q_target)) _q_target)
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(:qd_target
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(&optional __qd_target)
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(if __qd_target (setq _qd_target __qd_target)) _qd_target)
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(:qdd_target
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(&optional __qdd_target)
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(if __qdd_target (setq _qdd_target __qdd_target)) _qdd_target)
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(:i_target
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(&optional __i_target)
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(if __i_target (setq _i_target __i_target)) _i_target)
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(:m_target
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(&optional __m_target)
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(if __m_target (setq _m_target __m_target)) _m_target)
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(:q_actual
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(&optional __q_actual)
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(if __q_actual (setq _q_actual __q_actual)) _q_actual)
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(:qd_actual
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(&optional __qd_actual)
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(if __qd_actual (setq _qd_actual __qd_actual)) _qd_actual)
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(:i_actual
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(&optional __i_actual)
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(if __i_actual (setq _i_actual __i_actual)) _i_actual)
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(:tool_acc_values
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(&optional __tool_acc_values)
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(if __tool_acc_values (setq _tool_acc_values __tool_acc_values)) _tool_acc_values)
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(:tcp_force
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(&optional __tcp_force)
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(if __tcp_force (setq _tcp_force __tcp_force)) _tcp_force)
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(:tool_vector
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(&optional __tool_vector)
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(if __tool_vector (setq _tool_vector __tool_vector)) _tool_vector)
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(:tcp_speed
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(&optional __tcp_speed)
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(if __tcp_speed (setq _tcp_speed __tcp_speed)) _tcp_speed)
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(:digital_input_bits
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(&optional __digital_input_bits)
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(if __digital_input_bits (setq _digital_input_bits __digital_input_bits)) _digital_input_bits)
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(:motor_temperatures
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(&optional __motor_temperatures)
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(if __motor_temperatures (setq _motor_temperatures __motor_temperatures)) _motor_temperatures)
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(:controller_timer
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(&optional __controller_timer)
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(if __controller_timer (setq _controller_timer __controller_timer)) _controller_timer)
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(:test_value
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(&optional __test_value)
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(if __test_value (setq _test_value __test_value)) _test_value)
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(:robot_mode
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(&optional __robot_mode)
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(if __robot_mode (setq _robot_mode __robot_mode)) _robot_mode)
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(:joint_modes
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(&optional __joint_modes)
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(if __joint_modes (setq _joint_modes __joint_modes)) _joint_modes)
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(:serialization-length
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()
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(+
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;; float64 _time
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8
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;; float64[] _q_target
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(* 8 (length _q_target)) 4
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;; float64[] _qd_target
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(* 8 (length _qd_target)) 4
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;; float64[] _qdd_target
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(* 8 (length _qdd_target)) 4
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;; float64[] _i_target
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(* 8 (length _i_target)) 4
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;; float64[] _m_target
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(* 8 (length _m_target)) 4
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;; float64[] _q_actual
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(* 8 (length _q_actual)) 4
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;; float64[] _qd_actual
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(* 8 (length _qd_actual)) 4
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;; float64[] _i_actual
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(* 8 (length _i_actual)) 4
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;; float64[] _tool_acc_values
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(* 8 (length _tool_acc_values)) 4
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;; float64[] _tcp_force
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(* 8 (length _tcp_force)) 4
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;; float64[] _tool_vector
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(* 8 (length _tool_vector)) 4
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;; float64[] _tcp_speed
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(* 8 (length _tcp_speed)) 4
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;; float64 _digital_input_bits
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8
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;; float64[] _motor_temperatures
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(* 8 (length _motor_temperatures)) 4
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;; float64 _controller_timer
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8
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;; float64 _test_value
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8
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;; float64 _robot_mode
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8
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;; float64[] _joint_modes
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(* 8 (length _joint_modes)) 4
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))
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(:serialize
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(&optional strm)
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(let ((s (if strm strm
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(make-string-output-stream (send self :serialization-length)))))
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;; float64 _time
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(sys::poke _time (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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;; float64[] _q_target
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(write-long (length _q_target) s)
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(dotimes (i (length _q_target))
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(sys::poke (elt _q_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _qd_target
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(write-long (length _qd_target) s)
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(dotimes (i (length _qd_target))
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(sys::poke (elt _qd_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _qdd_target
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(write-long (length _qdd_target) s)
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(dotimes (i (length _qdd_target))
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(sys::poke (elt _qdd_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _i_target
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(write-long (length _i_target) s)
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(dotimes (i (length _i_target))
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(sys::poke (elt _i_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _m_target
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(write-long (length _m_target) s)
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(dotimes (i (length _m_target))
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(sys::poke (elt _m_target i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _q_actual
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(write-long (length _q_actual) s)
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(dotimes (i (length _q_actual))
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(sys::poke (elt _q_actual i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _qd_actual
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(write-long (length _qd_actual) s)
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(dotimes (i (length _qd_actual))
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(sys::poke (elt _qd_actual i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _i_actual
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(write-long (length _i_actual) s)
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(dotimes (i (length _i_actual))
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(sys::poke (elt _i_actual i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _tool_acc_values
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(write-long (length _tool_acc_values) s)
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(dotimes (i (length _tool_acc_values))
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(sys::poke (elt _tool_acc_values i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _tcp_force
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(write-long (length _tcp_force) s)
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(dotimes (i (length _tcp_force))
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(sys::poke (elt _tcp_force i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _tool_vector
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(write-long (length _tool_vector) s)
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(dotimes (i (length _tool_vector))
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(sys::poke (elt _tool_vector i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64[] _tcp_speed
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(write-long (length _tcp_speed) s)
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(dotimes (i (length _tcp_speed))
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(sys::poke (elt _tcp_speed i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64 _digital_input_bits
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(sys::poke _digital_input_bits (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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;; float64[] _motor_temperatures
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(write-long (length _motor_temperatures) s)
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(dotimes (i (length _motor_temperatures))
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(sys::poke (elt _motor_temperatures i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;; float64 _controller_timer
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(sys::poke _controller_timer (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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;; float64 _test_value
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(sys::poke _test_value (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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;; float64 _robot_mode
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(sys::poke _robot_mode (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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;; float64[] _joint_modes
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(write-long (length _joint_modes) s)
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(dotimes (i (length _joint_modes))
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(sys::poke (elt _joint_modes i) (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
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)
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;;
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(if (null strm) (get-output-stream-string s))))
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(:deserialize
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(buf &optional (ptr- 0))
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;; float64 _time
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(setq _time (sys::peek buf ptr- :double)) (incf ptr- 8)
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;; float64[] _q_target
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _q_target (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _q_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _qd_target
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _qd_target (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _qd_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _qdd_target
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _qdd_target (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _qdd_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _i_target
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _i_target (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _i_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _m_target
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _m_target (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _m_target i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _q_actual
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _q_actual (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _q_actual i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _qd_actual
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _qd_actual (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _qd_actual i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _i_actual
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _i_actual (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _i_actual i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _tool_acc_values
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _tool_acc_values (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _tool_acc_values i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _tcp_force
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _tcp_force (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _tcp_force i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _tool_vector
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _tool_vector (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _tool_vector i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64[] _tcp_speed
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _tcp_speed (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _tcp_speed i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64 _digital_input_bits
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(setq _digital_input_bits (sys::peek buf ptr- :double)) (incf ptr- 8)
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;; float64[] _motor_temperatures
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _motor_temperatures (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _motor_temperatures i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;; float64 _controller_timer
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(setq _controller_timer (sys::peek buf ptr- :double)) (incf ptr- 8)
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;; float64 _test_value
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(setq _test_value (sys::peek buf ptr- :double)) (incf ptr- 8)
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;; float64 _robot_mode
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(setq _robot_mode (sys::peek buf ptr- :double)) (incf ptr- 8)
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;; float64[] _joint_modes
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(let (n)
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(setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
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(setq _joint_modes (instantiate float-vector n))
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(dotimes (i n)
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(setf (elt _joint_modes i) (sys::peek buf ptr- :double)) (incf ptr- 8)
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))
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;;
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self)
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)
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(setf (get ur_msgs::RobotStateRTMsg :md5sum-) "ce6feddd3ccb4ca7dbcd0ff105b603c7")
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(setf (get ur_msgs::RobotStateRTMsg :datatype-) "ur_msgs/RobotStateRTMsg")
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(setf (get ur_msgs::RobotStateRTMsg :definition-)
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"# Data structure for the realtime communications interface (aka Matlab interface)
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# used by the Universal Robots controller
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#
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# This data structure is send at 125 Hz on TCP port 30003
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#
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# Dokumentation can be found on the Universal Robots Support Wiki
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# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)
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float64 time
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float64[] q_target
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float64[] qd_target
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float64[] qdd_target
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float64[] i_target
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float64[] m_target
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float64[] q_actual
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float64[] qd_actual
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float64[] i_actual
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float64[] tool_acc_values
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float64[] tcp_force
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float64[] tool_vector
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float64[] tcp_speed
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float64 digital_input_bits
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float64[] motor_temperatures
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float64 controller_timer
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float64 test_value
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float64 robot_mode
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float64[] joint_modes
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")
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(provide :ur_msgs/RobotStateRTMsg "ce6feddd3ccb4ca7dbcd0ff105b603c7")
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