diff --git a/README.md b/README.md new file mode 100644 index 00000000..54464a30 --- /dev/null +++ b/README.md @@ -0,0 +1,2 @@ +“无人战场伤员搬运”软件系统设计 + diff --git a/doc/“无人战场伤员搬运”软件系统的需求构思及描述.docx b/doc/“无人战场伤员搬运”软件系统的需求构思及描述.docx new file mode 100644 index 00000000..61bfc26a Binary files /dev/null and b/doc/“无人战场伤员搬运”软件系统的需求构思及描述.docx differ diff --git a/doc/“无人战场伤员搬运”软件设计规格说明书.docx b/doc/“无人战场伤员搬运”软件设计规格说明书.docx new file mode 100644 index 00000000..5b9468fe Binary files /dev/null and b/doc/“无人战场伤员搬运”软件设计规格说明书.docx differ diff --git a/doc/“无人战场伤员搬运”软件需求规格说明书.docx b/doc/“无人战场伤员搬运”软件需求规格说明书.docx new file mode 100644 index 00000000..964e44d5 Binary files /dev/null and b/doc/“无人战场伤员搬运”软件需求规格说明书.docx differ diff --git a/model/“无人战场救援”软件需求模型.eddx b/model/“无人战场救援”软件需求模型.eddx new file mode 100644 index 00000000..3343609b Binary files /dev/null and b/model/“无人战场救援”软件需求模型.eddx differ diff --git a/model/“无人战场救援”软件需求模型.vsdx b/model/“无人战场救援”软件需求模型.vsdx new file mode 100644 index 00000000..b779a9fc 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b/src/Joint_Rescue_development/build/CMakeCache.txt new file mode 100644 index 00000000..5f14c5d7 --- /dev/null +++ b/src/Joint_Rescue_development/build/CMakeCache.txt @@ -0,0 +1,700 @@ +# This is the CMakeCache file. +# For build in directory: /home/chinhan/Joint_Rescue_development/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//List of ';' separated packages to exclude +CATKIN_BLACKLIST_PACKAGES:STRING= + 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directory containing a CMake configuration file for Qt5Widgets. +Qt5Widgets_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets + +//The directory containing a CMake configuration file for Qt5. +Qt5_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5 + +//Path to a library. +RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Enable debian style python package layout +SETUPTOOLS_DEB_LAYOUT:BOOL=ON + +//Name of the computer/site where compile is being run +SITE:STRING=ubuntu + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_XENIAL:BOOL=TRUE + +//Path to a file. +_gmock_INCLUDES:FILEPATH=/usr/include/gmock/gmock.h + +//Path to a file. +_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc + +//Path to a file. +_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h + +//Path to a file. +_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc + +//The directory containing a CMake configuration file for actionlib. +actionlib_DIR:PATH=/opt/ros/kinetic/share/actionlib/cmake + +//The directory containing a CMake configuration file for actionlib_msgs. +actionlib_msgs_DIR:PATH=/opt/ros/kinetic/share/actionlib_msgs/cmake + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/kinetic/share/catkin/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/kinetic/share/class_loader/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/kinetic/share/cpp_common/cmake + +//Dependencies for the target +database_LIB_DEPENDS:STATIC=general;Qt5::Widgets;general;Qt5::Core;general;Qt5::Gui;general;Qt5::Sql;general;/opt/ros/kinetic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/opt/ros/kinetic/lib/libimage_transport.so;general;/opt/ros/kinetic/lib/libinteractive_markers.so;general;/opt/ros/kinetic/lib/liblaser_geometry.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/kinetic/lib/libresource_retriever.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/opt/ros/kinetic/lib/libtf.so;general;/opt/ros/kinetic/lib/libtf2_ros.so;general;/opt/ros/kinetic/lib/libactionlib.so;general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/opt/ros/kinetic/lib/libtf2.so;general;/opt/ros/kinetic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/kinetic/lib/librosconsole_bridge.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//The directory containing a CMake configuration file for gencpp. +gencpp_DIR:PATH=/opt/ros/kinetic/share/gencpp/cmake + +//The directory containing a CMake configuration file for geneus. +geneus_DIR:PATH=/opt/ros/kinetic/share/geneus/cmake + +//The directory containing a CMake configuration file for genlisp. +genlisp_DIR:PATH=/opt/ros/kinetic/share/genlisp/cmake + +//The directory containing a CMake configuration file for genmsg. +genmsg_DIR:PATH=/opt/ros/kinetic/share/genmsg/cmake + +//The directory containing a CMake configuration file for gennodejs. +gennodejs_DIR:PATH=/opt/ros/kinetic/share/gennodejs/cmake + +//The directory containing a CMake configuration file for genpy. +genpy_DIR:PATH=/opt/ros/kinetic/share/genpy/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/kinetic/share/geometry_msgs/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/home/chinhan/Joint_Rescue_development/build/gtest + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gmock_SOURCE_DIR:STATIC=/usr/src/gmock + +//Build all of Google Mock's own tests. +gmock_build_tests:BOOL=OFF + +//Dependencies for the target +gmock_main_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/chinhan/Joint_Rescue_development/build/gtest/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/gtest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest; + +//The directory containing a CMake configuration file for image_transport. +image_transport_DIR:PATH=/opt/ros/kinetic/share/image_transport/cmake + +//The directory containing a CMake configuration file for interactive_markers. +interactive_markers_DIR:PATH=/opt/ros/kinetic/share/interactive_markers/cmake + +//The directory containing a CMake configuration file for laser_geometry. +laser_geometry_DIR:PATH=/opt/ros/kinetic/share/laser_geometry/cmake + +//Path to a library. +lib:FILEPATH=/opt/ros/kinetic/lib/librosconsole_bridge.so + +//Value Computed by CMake +librviz_tutorial_BINARY_DIR:STATIC=/home/chinhan/Joint_Rescue_development/build/librviz_tutorial + +//Value Computed by CMake +librviz_tutorial_SOURCE_DIR:STATIC=/home/chinhan/Joint_Rescue_development/src/librviz_tutorial + +//Dependencies for the target +mainwindow_LIB_DEPENDS:STATIC=general;rvizwindow;general;missionset;general;database;general;/opt/ros/kinetic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/opt/ros/kinetic/lib/libimage_transport.so;general;/opt/ros/kinetic/lib/libinteractive_markers.so;general;/opt/ros/kinetic/lib/liblaser_geometry.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/kinetic/lib/libresource_retriever.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/opt/ros/kinetic/lib/libtf.so;general;/opt/ros/kinetic/lib/libtf2_ros.so;general;/opt/ros/kinetic/lib/libactionlib.so;general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/opt/ros/kinetic/lib/libtf2.so;general;/opt/ros/kinetic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/kinetic/lib/librosconsole_bridge.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//The directory containing a CMake configuration file for map_msgs. +map_msgs_DIR:PATH=/opt/ros/kinetic/share/map_msgs/cmake + +//The directory containing a CMake configuration file for message_filters. +message_filters_DIR:PATH=/opt/ros/kinetic/share/message_filters/cmake + +//The directory containing a CMake configuration file for message_generation. +message_generation_DIR:PATH=/opt/ros/kinetic/share/message_generation/cmake + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/kinetic/share/message_runtime/cmake + +//Dependencies for the target +missionset_LIB_DEPENDS:STATIC=general;database;general;/opt/ros/kinetic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/opt/ros/kinetic/lib/libimage_transport.so;general;/opt/ros/kinetic/lib/libinteractive_markers.so;general;/opt/ros/kinetic/lib/liblaser_geometry.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/kinetic/lib/libresource_retriever.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/opt/ros/kinetic/lib/libtf.so;general;/opt/ros/kinetic/lib/libtf2_ros.so;general;/opt/ros/kinetic/lib/libactionlib.so;general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/opt/ros/kinetic/lib/libtf2.so;general;/opt/ros/kinetic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/kinetic/lib/librosconsole_bridge.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//Dependencies for the target +missionwindow_LIB_DEPENDS:STATIC=general;/opt/ros/kinetic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/opt/ros/kinetic/lib/libimage_transport.so;general;/opt/ros/kinetic/lib/libinteractive_markers.so;general;/opt/ros/kinetic/lib/liblaser_geometry.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/kinetic/lib/libresource_retriever.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/opt/ros/kinetic/lib/libtf.so;general;/opt/ros/kinetic/lib/libtf2_ros.so;general;/opt/ros/kinetic/lib/libactionlib.so;general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/opt/ros/kinetic/lib/libtf2.so;general;/opt/ros/kinetic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/kinetic/lib/librosconsole_bridge.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//Dependencies for the target +myviz_LIB_DEPENDS:STATIC=general;Qt5::Widgets;general;/opt/ros/kinetic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/opt/ros/kinetic/lib/libimage_transport.so;general;/opt/ros/kinetic/lib/libinteractive_markers.so;general;/opt/ros/kinetic/lib/liblaser_geometry.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/kinetic/lib/libresource_retriever.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/opt/ros/kinetic/lib/libtf.so;general;/opt/ros/kinetic/lib/libtf2_ros.so;general;/opt/ros/kinetic/lib/libactionlib.so;general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/opt/ros/kinetic/lib/libtf2.so;general;/opt/ros/kinetic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/kinetic/lib/librosconsole_bridge.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//The directory containing a CMake configuration file for nav_msgs. +nav_msgs_DIR:PATH=/opt/ros/kinetic/share/nav_msgs/cmake + +//The directory containing a CMake configuration file for pluginlib. +pluginlib_DIR:PATH=/opt/ros/kinetic/share/pluginlib/cmake + +//Value Computed by CMake +qt_app_BINARY_DIR:STATIC=/home/chinhan/Joint_Rescue_development/build/ui_design + +//Value Computed by CMake +qt_app_SOURCE_DIR:STATIC=/home/chinhan/Joint_Rescue_development/src/ui_design + +//Dependencies for the target +receive_transform_LIB_DEPENDS:STATIC=general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//The directory containing a CMake configuration file for resource_retriever. +resource_retriever_DIR:PATH=/opt/ros/kinetic/share/resource_retriever/cmake + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/kinetic/share/rosconsole/cmake + +//The directory containing a CMake configuration file for rosconsole_bridge. +rosconsole_bridge_DIR:PATH=/opt/ros/kinetic/share/rosconsole_bridge/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/kinetic/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/kinetic/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/kinetic/share/roscpp_traits/cmake + +//The directory containing a CMake configuration file for rosgraph. +rosgraph_DIR:PATH=/opt/ros/kinetic/share/rosgraph/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/kinetic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for roslib. +roslib_DIR:PATH=/opt/ros/kinetic/share/roslib/cmake + +//The directory containing a CMake configuration file for rospack. +rospack_DIR:PATH=/opt/ros/kinetic/share/rospack/cmake + +//The directory containing a CMake configuration file for rospy. +rospy_DIR:PATH=/opt/ros/kinetic/share/rospy/cmake + +//The directory containing a CMake configuration file for rostime. +rostime_DIR:PATH=/opt/ros/kinetic/share/rostime/cmake + +//The directory containing a CMake configuration file for rviz. +rviz_DIR:PATH=/opt/ros/kinetic/share/rviz/cmake + +//Dependencies for the target +rvizwindow_LIB_DEPENDS:STATIC=general;Qt5::Widgets;general;Qt5::Core;general;Qt5::Gui;general;Qt5::Sql;general;/opt/ros/kinetic/lib/librviz.so;general;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;general;/usr/lib/x86_64-linux-gnu/libOgreMain.so;general;/usr/lib/x86_64-linux-gnu/libGLU.so;general;/usr/lib/x86_64-linux-gnu/libGL.so;general;/opt/ros/kinetic/lib/libimage_transport.so;general;/opt/ros/kinetic/lib/libinteractive_markers.so;general;/opt/ros/kinetic/lib/liblaser_geometry.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/kinetic/lib/libresource_retriever.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython2.7.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;general;/opt/ros/kinetic/lib/libtf.so;general;/opt/ros/kinetic/lib/libtf2_ros.so;general;/opt/ros/kinetic/lib/libactionlib.so;general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/opt/ros/kinetic/lib/libtf2.so;general;/opt/ros/kinetic/lib/liburdf.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_sensor.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model_state.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_model.so;general;/usr/lib/x86_64-linux-gnu/liburdfdom_world.so;general;/usr/lib/x86_64-linux-gnu/libtinyxml.so;general;/opt/ros/kinetic/lib/librosconsole_bridge.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//Dependencies for the target +send_transform_LIB_DEPENDS:STATIC=general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;general;/usr/lib/x86_64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;general;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so; + +//The directory containing a CMake configuration file for sensor_msgs. +sensor_msgs_DIR:PATH=/opt/ros/kinetic/share/sensor_msgs/cmake + +//The directory containing a CMake configuration file for std_msgs. +std_msgs_DIR:PATH=/opt/ros/kinetic/share/std_msgs/cmake + +//The directory containing a CMake configuration file for tf2. +tf2_DIR:PATH=/opt/ros/kinetic/share/tf2/cmake + +//The directory containing a CMake configuration file for tf2_msgs. +tf2_msgs_DIR:PATH=/opt/ros/kinetic/share/tf2_msgs/cmake + +//The directory containing a CMake configuration file for tf2_py. +tf2_py_DIR:PATH=/opt/ros/kinetic/share/tf2_py/cmake + +//The directory containing a CMake configuration file for tf2_ros. +tf2_ros_DIR:PATH=/opt/ros/kinetic/share/tf2_ros/cmake + +//The directory containing a CMake configuration file for tf. +tf_DIR:PATH=/opt/ros/kinetic/share/tf/cmake + +//Value Computed by CMake +udp_port_BINARY_DIR:STATIC=/home/chinhan/Joint_Rescue_development/build/udp_port + +//Value Computed by CMake +udp_port_SOURCE_DIR:STATIC=/home/chinhan/Joint_Rescue_development/src/udp_port + +//Value Computed by CMake +unitree_legged_msgs_BINARY_DIR:STATIC=/home/chinhan/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs + +//The directory containing a CMake configuration file for unitree_legged_msgs. +unitree_legged_msgs_DIR:PATH=/home/chinhan/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake + +//Value Computed by CMake +unitree_legged_msgs_SOURCE_DIR:STATIC=/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs + +//Value Computed by CMake +unitree_legged_real_BINARY_DIR:STATIC=/home/chinhan/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real + +//Value Computed by CMake +unitree_legged_real_SOURCE_DIR:STATIC=/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_real + +//The directory containing a CMake configuration file for urdf. 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These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID "" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID "" +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if !defined(__STDC_VERSION__) + "90" +#elif __STDC_VERSION__ >= 201000L + "11" +#elif __STDC_VERSION__ >= 199901L + "99" +#else +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/src/Joint_Rescue_development/build/CMakeFiles/3.5.1/CompilerIdC/a.out b/src/Joint_Rescue_development/build/CMakeFiles/3.5.1/CompilerIdC/a.out new file mode 100644 index 00000000..0b65cfe3 Binary files /dev/null and b/src/Joint_Rescue_development/build/CMakeFiles/3.5.1/CompilerIdC/a.out differ diff --git a/src/Joint_Rescue_development/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/src/Joint_Rescue_development/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 00000000..e6d85363 --- /dev/null +++ b/src/Joint_Rescue_development/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,533 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID "" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID "" + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. 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@echo "... direct_control_send_node" + @echo "... map_send_node" + @echo "... udp_port_receive_node" + @echo "... udp_port_send_node" + @echo "... receive_transform" + @echo "... send_transform" + @echo "... actionlib_msgs_generate_messages_nodejs" + @echo "... actionlib_msgs_generate_messages_lisp" + @echo "... actionlib_msgs_generate_messages_eus" + @echo "... nav_msgs_generate_messages_py" + @echo "... nav_msgs_generate_messages_nodejs" + @echo "... roscpp_generate_messages_eus" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... roscpp_generate_messages_nodejs" + @echo "... coordinate_send_node" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_cpp" + @echo "... actionlib_msgs_generate_messages_py" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... roscpp_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... 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"... _unitree_legged_msgs_generate_messages_check_deps_HighCmd" + @echo "... unitree_legged_msgs_gencpp" + @echo "... unitree_legged_msgs_generate_messages_eus" + @echo "... unitree_legged_msgs_genlisp" + @echo "... torque_lcm" + @echo "... lcm_server_3_2" + @echo "... walk_lcm" + @echo "... velocity_lcm" + @echo "... position_lcm" + @echo "... direct_control" + @echo "... myviz" + @echo "... map_msgs_generate_messages_py" + @echo "... map_msgs_generate_messages_nodejs" + @echo "... tf2_msgs_generate_messages_cpp" + @echo "... actionlib_generate_messages_lisp" + @echo "... actionlib_generate_messages_py" + @echo "... actionlib_generate_messages_nodejs" + @echo "... tf_generate_messages_py" + @echo "... visualization_msgs_generate_messages_eus" + @echo "... actionlib_generate_messages_cpp" + @echo "... map_msgs_generate_messages_lisp" + @echo "... tf_generate_messages_eus" + @echo "... actionlib_generate_messages_eus" + @echo "... tf_generate_messages_cpp" + @echo "... 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+#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Joint_Rescue_development/build/Project.cbp b/src/Joint_Rescue_development/build/Project.cbp new file mode 100644 index 00000000..b87a05e5 --- /dev/null +++ b/src/Joint_Rescue_development/build/Project.cbp @@ -0,0 +1,6268 @@ + + + + + + diff --git a/src/Joint_Rescue_development/build/atomic_configure/.rosinstall b/src/Joint_Rescue_development/build/atomic_configure/.rosinstall new file mode 100644 index 00000000..bc8f790a --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/chinhan/Joint_Rescue_development/devel/setup.sh diff --git a/src/Joint_Rescue_development/build/atomic_configure/_setup_util.py b/src/Joint_Rescue_development/build/atomic_configure/_setup_util.py new file mode 100644 index 00000000..3f4e5a68 --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Joint_Rescue_development/build/atomic_configure/env.sh b/src/Joint_Rescue_development/build/atomic_configure/env.sh new file mode 100644 index 00000000..8aa9d244 --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Joint_Rescue_development/build/atomic_configure/local_setup.bash b/src/Joint_Rescue_development/build/atomic_configure/local_setup.bash new file mode 100644 index 00000000..7da0d973 --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Joint_Rescue_development/build/atomic_configure/local_setup.sh b/src/Joint_Rescue_development/build/atomic_configure/local_setup.sh new file mode 100644 index 00000000..170ed546 --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/chinhan/Joint_Rescue_development/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Joint_Rescue_development/build/atomic_configure/local_setup.zsh b/src/Joint_Rescue_development/build/atomic_configure/local_setup.zsh new file mode 100644 index 00000000..e692accf --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Joint_Rescue_development/build/atomic_configure/setup.bash b/src/Joint_Rescue_development/build/atomic_configure/setup.bash new file mode 100644 index 00000000..ff47af8f --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Joint_Rescue_development/build/atomic_configure/setup.sh b/src/Joint_Rescue_development/build/atomic_configure/setup.sh new file mode 100644 index 00000000..5e5160a8 --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/chinhan/Joint_Rescue_development/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Joint_Rescue_development/build/atomic_configure/setup.zsh b/src/Joint_Rescue_development/build/atomic_configure/setup.zsh new file mode 100644 index 00000000..9f780b74 --- /dev/null +++ b/src/Joint_Rescue_development/build/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Joint_Rescue_development/build/catkin/catkin_generated/version/package.cmake b/src/Joint_Rescue_development/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 00000000..3e52286e --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.29") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/catkin_generated/env_cached.sh b/src/Joint_Rescue_development/build/catkin_generated/env_cached.sh new file mode 100644 index 00000000..d6be91db --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/src/Joint_Rescue_development/build/catkin_generated/generate_cached_setup.py b/src/Joint_Rescue_development/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 00000000..b70cd741 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/kinetic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/kinetic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/chinhan/Joint_Rescue_development/devel/env.sh') + +output_filename = '/home/chinhan/Joint_Rescue_development/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/.rosinstall b/src/Joint_Rescue_development/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 00000000..183e8d66 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/chinhan/Joint_Rescue_development/install/setup.sh diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/_setup_util.py b/src/Joint_Rescue_development/build/catkin_generated/installspace/_setup_util.py new file mode 100644 index 00000000..3f4e5a68 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/env.sh b/src/Joint_Rescue_development/build/catkin_generated/installspace/env.sh new file mode 100644 index 00000000..8aa9d244 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.bash b/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 00000000..7da0d973 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.sh b/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 00000000..a6752e19 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/chinhan/Joint_Rescue_development/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.zsh b/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 00000000..e692accf --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.bash b/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.bash new file mode 100644 index 00000000..ff47af8f --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.sh b/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.sh new file mode 100644 index 00000000..7bbb9a2e --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/chinhan/Joint_Rescue_development/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.zsh b/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 00000000..9f780b74 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Joint_Rescue_development/build/catkin_generated/order_packages.cmake b/src/Joint_Rescue_development/build/catkin_generated/order_packages.cmake new file mode 100644 index 00000000..65fe7f9b --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/order_packages.cmake @@ -0,0 +1,30 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "udp_port") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "udp_port") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "unitree_legged_msgs") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "unitree_ros_to_real-3.2.1/unitree_legged_msgs") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "unitree_legged_real") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "unitree_ros_to_real-3.2.1/unitree_legged_real") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "librviz_tutorial") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "librviz_tutorial") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "qt_app") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "ui_design") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/src/Joint_Rescue_development/build/catkin_generated/order_packages.py b/src/Joint_Rescue_development/build/catkin_generated/order_packages.py new file mode 100644 index 00000000..c9c983a6 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/home/chinhan/Joint_Rescue_development/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic'.split(';') if '/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic' != '' else [] diff --git a/src/Joint_Rescue_development/build/catkin_generated/setup_cached.sh b/src/Joint_Rescue_development/build/catkin_generated/setup_cached.sh new file mode 100644 index 00000000..52cd0c2c --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/setup_cached.sh @@ -0,0 +1,10 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export PWD='/home/chinhan/Joint_Rescue_development/build' \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100644 index 00000000..3f4e5a68 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 00000000..5e25fbf8 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 00000000..7ec7539a --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,70 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +@{ +package.evaluate_conditions(os.environ) +try: + build_type = package.get_build_type() +except InvalidPackage: + build_type = None +}@ +@[if build_type is None]@ +message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") +@{ +fatal_error = True +}@ +@[else]@ +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") +@[end if]@ +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/package.xml.stamp b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 00000000..9a1f675e --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,48 @@ + + + + catkin + 0.7.29 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python3-mock + python-nose + python3-nose + + + + + + diff --git a/src/Joint_Rescue_development/build/catkin_make.cache b/src/Joint_Rescue_development/build/catkin_make.cache new file mode 100644 index 00000000..7ff87897 --- /dev/null +++ b/src/Joint_Rescue_development/build/catkin_make.cache @@ -0,0 +1,2 @@ +librviz_tutorial:udp_port:ui_design:unitree_ros_to_real-3.2.1/unitree_legged_msgs:unitree_ros_to_real-3.2.1/unitree_legged_real +-G CodeBlocks - Unix Makefiles -DCMAKE_BUILD_TYPE=Debug -DCATKIN_DEVEL_PREFIX=/home/chinhan/Joint_Rescue_development/devel -DCMAKE_INSTALL_PREFIX=/home/chinhan/Joint_Rescue_development/install \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/cmake_install.cmake b/src/Joint_Rescue_development/build/cmake_install.cmake new file mode 100644 index 00000000..530bdad9 --- /dev/null +++ b/src/Joint_Rescue_development/build/cmake_install.cmake @@ -0,0 +1,146 @@ +# Install script for directory: /home/chinhan/Joint_Rescue_development/src + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/chinhan/Joint_Rescue_development/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Debug") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/chinhan/Joint_Rescue_development/install/_setup_util.py") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/chinhan/Joint_Rescue_development/install" TYPE PROGRAM FILES "/home/chinhan/Joint_Rescue_development/build/catkin_generated/installspace/_setup_util.py") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/chinhan/Joint_Rescue_development/install/env.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/chinhan/Joint_Rescue_development/install" TYPE PROGRAM FILES "/home/chinhan/Joint_Rescue_development/build/catkin_generated/installspace/env.sh") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/chinhan/Joint_Rescue_development/install/setup.bash;/home/chinhan/Joint_Rescue_development/install/local_setup.bash") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/chinhan/Joint_Rescue_development/install" TYPE FILE FILES + "/home/chinhan/Joint_Rescue_development/build/catkin_generated/installspace/setup.bash" + "/home/chinhan/Joint_Rescue_development/build/catkin_generated/installspace/local_setup.bash" + ) +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/chinhan/Joint_Rescue_development/install/setup.sh;/home/chinhan/Joint_Rescue_development/install/local_setup.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/chinhan/Joint_Rescue_development/install" TYPE FILE FILES + "/home/chinhan/Joint_Rescue_development/build/catkin_generated/installspace/setup.sh" + 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set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/installspace/librviz_tutorialConfig.cmake b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/installspace/librviz_tutorialConfig.cmake new file mode 100644 index 00000000..28eebf7c --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/installspace/librviz_tutorialConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from 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creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://ros.org/wiki/librviz_tutorial " STREQUAL " ") + set(_report "Check the website 'http://ros.org/wiki/librviz_tutorial' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Mabel Zhang ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${librviz_tutorial_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'librviz_tutorial' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'librviz_tutorial' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(librviz_tutorial_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND librviz_tutorial_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND librviz_tutorial_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT librviz_tutorial_NUM_DUMMY_TARGETS) + set(librviz_tutorial_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::librviz_tutorial::wrapped-linker-option${librviz_tutorial_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR librviz_tutorial_NUM_DUMMY_TARGETS "${librviz_tutorial_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::librviz_tutorial::wrapped-linker-option${librviz_tutorial_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND librviz_tutorial_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND librviz_tutorial_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND librviz_tutorial_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/install/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(librviz_tutorial_LIBRARY_DIRS ${lib_path}) + list(APPEND librviz_tutorial_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'librviz_tutorial'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND librviz_tutorial_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(librviz_tutorial_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${librviz_tutorial_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 librviz_tutorial_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${librviz_tutorial_dep}_FOUND) + find_package(${librviz_tutorial_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${librviz_tutorial_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(librviz_tutorial_INCLUDE_DIRS ${${librviz_tutorial_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(librviz_tutorial_LIBRARIES ${librviz_tutorial_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${librviz_tutorial_dep}_LIBRARIES}) + _list_append_deduplicate(librviz_tutorial_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(librviz_tutorial_LIBRARIES ${librviz_tutorial_LIBRARIES}) + + _list_append_unique(librviz_tutorial_LIBRARY_DIRS ${${librviz_tutorial_dep}_LIBRARY_DIRS}) + list(APPEND librviz_tutorial_EXPORTED_TARGETS ${${librviz_tutorial_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${librviz_tutorial_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/ordered_paths.cmake b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..afa3bade --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/kinetic/lib") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/package.cmake b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/package.cmake new file mode 100644 index 00000000..41130542 --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "librviz_tutorial") +set(librviz_tutorial_VERSION "0.11.0") +set(librviz_tutorial_MAINTAINER "Mabel Zhang ") +set(librviz_tutorial_PACKAGE_FORMAT "1") +set(librviz_tutorial_BUILD_DEPENDS "qtbase5-dev" "roscpp" "rviz") +set(librviz_tutorial_BUILD_EXPORT_DEPENDS "libqt5-core" "libqt5-gui" "libqt5-widgets" "roscpp" "rviz") +set(librviz_tutorial_BUILDTOOL_DEPENDS "catkin") +set(librviz_tutorial_BUILDTOOL_EXPORT_DEPENDS ) +set(librviz_tutorial_EXEC_DEPENDS "libqt5-core" "libqt5-gui" "libqt5-widgets" "roscpp" "rviz") +set(librviz_tutorial_RUN_DEPENDS "libqt5-core" "libqt5-gui" "libqt5-widgets" "roscpp" "rviz") +set(librviz_tutorial_TEST_DEPENDS ) +set(librviz_tutorial_DOC_DEPENDS ) +set(librviz_tutorial_URL_WEBSITE "http://ros.org/wiki/librviz_tutorial") +set(librviz_tutorial_URL_BUGTRACKER "") +set(librviz_tutorial_URL_REPOSITORY "") +set(librviz_tutorial_DEPRECATED "") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/pkg.develspace.context.pc.py b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..e7ca4357 --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "librviz_tutorial" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/devel" +PROJECT_VERSION = "0.11.0" diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/pkg.installspace.context.pc.py b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..025ae77b --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "librviz_tutorial" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/install" +PROJECT_VERSION = "0.11.0" diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/stamps/librviz_tutorial/package.xml.stamp b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/stamps/librviz_tutorial/package.xml.stamp new file mode 100644 index 00000000..e9277932 --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/stamps/librviz_tutorial/package.xml.stamp @@ -0,0 +1,28 @@ + + librviz_tutorial + 0.11.0 + + Tutorial showing how to compile your own C++ program with RViz displays and features. + + Mabel Zhang + BSD + + http://ros.org/wiki/librviz_tutorial + Dave Hershberger + + catkin + + qtbase5-dev + roscpp + rviz + + libqt5-core + libqt5-gui + libqt5-widgets + roscpp + rviz + + + + + diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/stamps/librviz_tutorial/pkg.pc.em.stamp b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/stamps/librviz_tutorial/pkg.pc.em.stamp new file mode 100644 index 00000000..549fb75c --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/stamps/librviz_tutorial/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/cmake_install.cmake b/src/Joint_Rescue_development/build/librviz_tutorial/cmake_install.cmake new file mode 100644 index 00000000..e02d9b51 --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/cmake_install.cmake @@ -0,0 +1,69 @@ +# Install script for directory: /home/chinhan/Joint_Rescue_development/src/librviz_tutorial + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/chinhan/Joint_Rescue_development/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Debug") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/installspace/librviz_tutorial.pc") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/librviz_tutorial/cmake" TYPE FILE FILES + "/home/chinhan/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/installspace/librviz_tutorialConfig.cmake" + "/home/chinhan/Joint_Rescue_development/build/librviz_tutorial/catkin_generated/installspace/librviz_tutorialConfig-version.cmake" + ) +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/librviz_tutorial" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/src/librviz_tutorial/package.xml") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial/myviz" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial/myviz") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial/myviz" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial" TYPE EXECUTABLE FILES "/home/chinhan/Joint_Rescue_development/devel/lib/librviz_tutorial/myviz") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial/myviz" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial/myviz") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial/myviz" + OLD_RPATH "/opt/ros/kinetic/lib:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librviz_tutorial/myviz") + endif() + endif() +endif() + diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/librviz_tutorial.cbp b/src/Joint_Rescue_development/build/librviz_tutorial/librviz_tutorial.cbp new file mode 100644 index 00000000..c531227f --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/librviz_tutorial.cbp @@ -0,0 +1,3673 @@ + + + + + + diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/moc_myviz.cpp b/src/Joint_Rescue_development/build/librviz_tutorial/moc_myviz.cpp new file mode 100644 index 00000000..84bc2519 --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/moc_myviz.cpp @@ -0,0 +1,117 @@ +/**************************************************************************** +** Meta object code from reading C++ file 'myviz.h' +** +** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) +** +** WARNING! All changes made in this file will be lost! +*****************************************************************************/ + +#include "../../src/librviz_tutorial/src/myviz.h" +#include +#include +#if !defined(Q_MOC_OUTPUT_REVISION) +#error "The header file 'myviz.h' doesn't include ." +#elif Q_MOC_OUTPUT_REVISION != 67 +#error "This file was generated using the moc from 5.5.1. It" +#error "cannot be used with the include files from this version of Qt." +#error "(The moc has changed too much.)" +#endif + +QT_BEGIN_MOC_NAMESPACE +struct qt_meta_stringdata_MyViz_t { + QByteArrayData data[6]; + char stringdata0[68]; +}; +#define QT_MOC_LITERAL(idx, ofs, len) \ + Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ + qptrdiff(offsetof(qt_meta_stringdata_MyViz_t, stringdata0) + ofs \ + - idx * sizeof(QByteArrayData)) \ + ) +static const qt_meta_stringdata_MyViz_t qt_meta_stringdata_MyViz = { + { +QT_MOC_LITERAL(0, 0, 5), // "MyViz" +QT_MOC_LITERAL(1, 6, 12), // "setThickness" +QT_MOC_LITERAL(2, 19, 0), // "" +QT_MOC_LITERAL(3, 20, 17), // "thickness_percent" +QT_MOC_LITERAL(4, 38, 11), // "setCellSize" +QT_MOC_LITERAL(5, 50, 17) // "cell_size_percent" + + }, + "MyViz\0setThickness\0\0thickness_percent\0" + "setCellSize\0cell_size_percent" +}; +#undef QT_MOC_LITERAL + +static const uint qt_meta_data_MyViz[] = { + + // content: + 7, // revision + 0, // classname + 0, 0, // classinfo + 2, 14, // methods + 0, 0, // properties + 0, 0, // enums/sets + 0, 0, // constructors + 0, // flags + 0, // signalCount + + // slots: name, argc, parameters, tag, flags + 1, 1, 24, 2, 0x08 /* Private */, + 4, 1, 27, 2, 0x08 /* Private */, + + // slots: parameters + QMetaType::Void, QMetaType::Int, 3, + QMetaType::Void, QMetaType::Int, 5, + + 0 // eod +}; + +void MyViz::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) +{ + if (_c == QMetaObject::InvokeMetaMethod) { + MyViz *_t = static_cast(_o); + Q_UNUSED(_t) + switch (_id) { + case 0: _t->setThickness((*reinterpret_cast< int(*)>(_a[1]))); break; + case 1: _t->setCellSize((*reinterpret_cast< int(*)>(_a[1]))); break; + default: ; + } + } +} + +const QMetaObject MyViz::staticMetaObject = { + { &QWidget::staticMetaObject, qt_meta_stringdata_MyViz.data, + qt_meta_data_MyViz, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} +}; + + +const QMetaObject *MyViz::metaObject() const +{ + return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; +} + +void *MyViz::qt_metacast(const char *_clname) +{ + if (!_clname) return Q_NULLPTR; + if (!strcmp(_clname, qt_meta_stringdata_MyViz.stringdata0)) + return static_cast(const_cast< MyViz*>(this)); + return QWidget::qt_metacast(_clname); +} + +int MyViz::qt_metacall(QMetaObject::Call _c, int _id, void **_a) +{ + _id = QWidget::qt_metacall(_c, _id, _a); + if (_id < 0) + return _id; + if (_c == QMetaObject::InvokeMetaMethod) { + if (_id < 2) + qt_static_metacall(this, _c, _id, _a); + _id -= 2; + } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { + if (_id < 2) + *reinterpret_cast(_a[0]) = -1; + _id -= 2; + } + return _id; +} +QT_END_MOC_NAMESPACE diff --git a/src/Joint_Rescue_development/build/librviz_tutorial/myviz_automoc.cpp b/src/Joint_Rescue_development/build/librviz_tutorial/myviz_automoc.cpp new file mode 100644 index 00000000..3f6e737e --- /dev/null +++ b/src/Joint_Rescue_development/build/librviz_tutorial/myviz_automoc.cpp @@ -0,0 +1,2 @@ +/* This file is autogenerated, do not edit*/ +#include "moc_myviz.cpp" diff --git a/src/Joint_Rescue_development/build/udp_port/CMakeFiles/CMakeDirectoryInformation.cmake b/src/Joint_Rescue_development/build/udp_port/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 00000000..c871045f --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/CMakeFiles/CMakeDirectoryInformation.cmake @@ -0,0 +1,16 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.5 + +# Relative path conversion top directories. +set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/chinhan/Joint_Rescue_development/src") +set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/chinhan/Joint_Rescue_development/build") + +# Force unix paths in dependencies. +set(CMAKE_FORCE_UNIX_PATHS 1) + + +# The C and CXX include file regular expressions for this directory. +set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$") +set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$") +set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN}) +set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN}) diff --git a/src/Joint_Rescue_development/build/udp_port/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/DependInfo.cmake b/src/Joint_Rescue_development/build/udp_port/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/DependInfo.cmake new file mode 100644 index 00000000..19fab214 --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/DependInfo.cmake @@ -0,0 +1,11 @@ +# The set of languages for which implicit dependencies are needed: +set(CMAKE_DEPENDS_LANGUAGES + ) +# The set of files for implicit dependencies of each language: + +# Targets to which this target links. +set(CMAKE_TARGET_LINKED_INFO_FILES + ) + +# Fortran module output directory. +set(CMAKE_Fortran_TARGET_MODULE_DIR "") diff --git 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lib/receive_transform.i" + @echo "... lib/receive_transform.s" + @echo "... lib/send_transform.o" + @echo "... lib/send_transform.i" + @echo "... lib/send_transform.s" + @echo "... src/coordinate_send.o" + @echo "... src/coordinate_send.i" + @echo "... src/coordinate_send.s" + @echo "... src/direct_control_send.o" + @echo "... src/direct_control_send.i" + @echo "... src/direct_control_send.s" + @echo "... src/map_send.o" + @echo "... src/map_send.i" + @echo "... src/map_send.s" + @echo "... src/udp_port_receive_node.o" + @echo "... src/udp_port_receive_node.i" + @echo "... src/udp_port_receive_node.s" + @echo "... src/udp_port_send_node.o" + @echo "... src/udp_port_send_node.i" + @echo "... src/udp_port_send_node.s" + @echo "... test/look.o" + @echo "... test/look.i" + @echo "... test/look.s" + @echo "... test/test.o" + @echo "... test/test.i" + @echo "... test/test.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/chinhan/Joint_Rescue_development/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_port.pc b/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_port.pc new file mode 100644 index 00000000..9b9d7cff --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_port.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/install + +Name: udp_port +Description: Description of udp_port +Version: 0.0.1 +Cflags: +Libs: -L${prefix}/lib +Requires: roscpp std_msgs message_generation message_runtime diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig-version.cmake b/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig-version.cmake new file mode 100644 index 00000000..b2c1126a --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.1") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig.cmake b/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig.cmake new file mode 100644 index 00000000..3173dcb1 --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(udp_port_CONFIG_INCLUDED) + return() +endif() +set(udp_port_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(udp_port_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/udp_port) + set(udp_port_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(udp_port_INSTALL_PREFIX "") + set(udp_port_PREFIX ${udp_port_DEVEL_PREFIX}) +else() + set(udp_port_SOURCE_PREFIX "") + set(udp_port_DEVEL_PREFIX "") + set(udp_port_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(udp_port_PREFIX ${udp_port_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'udp_port' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(udp_port_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(udp_port_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT "https://github.com/bluewhalerobot/udp_test/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/bluewhalerobot/udp_test/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://github.com/bluewhalerobot/udp_test " STREQUAL " ") + set(_report "Check the website 'http://github.com/bluewhalerobot/udp_test' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Randoms ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${udp_port_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'udp_port' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'udp_port' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(udp_port_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND udp_port_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND udp_port_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT udp_port_NUM_DUMMY_TARGETS) + set(udp_port_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::udp_port::wrapped-linker-option${udp_port_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR udp_port_NUM_DUMMY_TARGETS "${udp_port_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::udp_port::wrapped-linker-option${udp_port_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND udp_port_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND udp_port_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND udp_port_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/install/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(udp_port_LIBRARY_DIRS ${lib_path}) + list(APPEND udp_port_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'udp_port'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND udp_port_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(udp_port_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${udp_port_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;std_msgs;message_generation;message_runtime") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 udp_port_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${udp_port_dep}_FOUND) + find_package(${udp_port_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${udp_port_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(udp_port_INCLUDE_DIRS ${${udp_port_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(udp_port_LIBRARIES ${udp_port_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${udp_port_dep}_LIBRARIES}) + _list_append_deduplicate(udp_port_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(udp_port_LIBRARIES ${udp_port_LIBRARIES}) + + _list_append_unique(udp_port_LIBRARY_DIRS ${${udp_port_dep}_LIBRARY_DIRS}) + list(APPEND udp_port_EXPORTED_TARGETS ${${udp_port_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${udp_port_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/ordered_paths.cmake b/src/Joint_Rescue_development/build/udp_port/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..afa3bade --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/kinetic/lib") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/package.cmake b/src/Joint_Rescue_development/build/udp_port/catkin_generated/package.cmake new file mode 100644 index 00000000..ed22ecc3 --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "udp_port") +set(udp_port_VERSION "0.0.1") +set(udp_port_MAINTAINER "Randoms ") +set(udp_port_PACKAGE_FORMAT "2") +set(udp_port_BUILD_DEPENDS "message_generation" "roscpp" "std_msgs") +set(udp_port_BUILD_EXPORT_DEPENDS "message_generation" "roscpp" "std_msgs") +set(udp_port_BUILDTOOL_DEPENDS "catkin") +set(udp_port_BUILDTOOL_EXPORT_DEPENDS ) +set(udp_port_EXEC_DEPENDS "message_runtime" "message_generation" "roscpp" "std_msgs") +set(udp_port_RUN_DEPENDS "message_runtime" "message_generation" "roscpp" "std_msgs") +set(udp_port_TEST_DEPENDS ) +set(udp_port_DOC_DEPENDS ) +set(udp_port_URL_WEBSITE "http://github.com/bluewhalerobot/udp_test") +set(udp_port_URL_BUGTRACKER "https://github.com/bluewhalerobot/udp_test/issues") +set(udp_port_URL_REPOSITORY "https://github.com/bluewhalerobot/udp_test") +set(udp_port_DEPRECATED "") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/pkg.develspace.context.pc.py b/src/Joint_Rescue_development/build/udp_port/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..7c667f62 --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;std_msgs;message_generation;message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "udp_port" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/devel" +PROJECT_VERSION = "0.0.1" diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/pkg.installspace.context.pc.py b/src/Joint_Rescue_development/build/udp_port/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..0cfffe50 --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;std_msgs;message_generation;message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "udp_port" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/install" +PROJECT_VERSION = "0.0.1" diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/stamps/udp_port/package.xml.stamp b/src/Joint_Rescue_development/build/udp_port/catkin_generated/stamps/udp_port/package.xml.stamp new file mode 100644 index 00000000..eead4ace --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/stamps/udp_port/package.xml.stamp @@ -0,0 +1,19 @@ + + udp_port + 0.0.1 + + udp subscribe test + + MIT + Randoms + Randoms + http://github.com/bluewhalerobot/udp_test + https://github.com/bluewhalerobot/udp_test/issues + https://github.com/bluewhalerobot/udp_test + + catkin + message_runtime + message_generation + roscpp + std_msgs + \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/udp_port/catkin_generated/stamps/udp_port/pkg.pc.em.stamp b/src/Joint_Rescue_development/build/udp_port/catkin_generated/stamps/udp_port/pkg.pc.em.stamp new file mode 100644 index 00000000..549fb75c --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/catkin_generated/stamps/udp_port/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Joint_Rescue_development/build/udp_port/cmake_install.cmake b/src/Joint_Rescue_development/build/udp_port/cmake_install.cmake new file mode 100644 index 00000000..4a3e6039 --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/chinhan/Joint_Rescue_development/src/udp_port + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/chinhan/Joint_Rescue_development/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Debug") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_port.pc") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/udp_port/cmake" TYPE FILE FILES + "/home/chinhan/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig.cmake" + "/home/chinhan/Joint_Rescue_development/build/udp_port/catkin_generated/installspace/udp_portConfig-version.cmake" + ) +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/udp_port" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/src/udp_port/package.xml") +endif() + diff --git a/src/Joint_Rescue_development/build/udp_port/udp_port.cbp b/src/Joint_Rescue_development/build/udp_port/udp_port.cbp new file mode 100644 index 00000000..4f0bb2d3 --- /dev/null +++ b/src/Joint_Rescue_development/build/udp_port/udp_port.cbp @@ -0,0 +1,4231 @@ + + + + + + diff --git a/src/Joint_Rescue_development/build/ui_design/CMakeFiles/CMakeDirectoryInformation.cmake b/src/Joint_Rescue_development/build/ui_design/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 00000000..c871045f --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/CMakeFiles/CMakeDirectoryInformation.cmake @@ -0,0 +1,16 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.5 + +# Relative path conversion top directories. +set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/chinhan/Joint_Rescue_development/src") +set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/chinhan/Joint_Rescue_development/build") + +# Force unix paths in dependencies. 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catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(qt_app_CONFIG_INCLUDED) + return() +endif() +set(qt_app_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(qt_app_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/ui_design) + set(qt_app_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(qt_app_INSTALL_PREFIX "") + set(qt_app_PREFIX ${qt_app_DEVEL_PREFIX}) +else() + set(qt_app_SOURCE_PREFIX "") + set(qt_app_DEVEL_PREFIX "") + set(qt_app_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(qt_app_PREFIX ${qt_app_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'qt_app' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(qt_app_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(qt_app_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT "https://github.com/bluewhalerobot/udp_test/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/bluewhalerobot/udp_test/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://github.com/bluewhalerobot/udp_test " STREQUAL " ") + set(_report "Check the website 'http://github.com/bluewhalerobot/udp_test' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Randoms ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${qt_app_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'qt_app' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'qt_app' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(qt_app_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND qt_app_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND qt_app_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT qt_app_NUM_DUMMY_TARGETS) + set(qt_app_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::qt_app::wrapped-linker-option${qt_app_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR qt_app_NUM_DUMMY_TARGETS "${qt_app_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::qt_app::wrapped-linker-option${qt_app_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND qt_app_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND qt_app_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND qt_app_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/install/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(qt_app_LIBRARY_DIRS ${lib_path}) + list(APPEND qt_app_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'qt_app'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND qt_app_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(qt_app_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${qt_app_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 qt_app_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${qt_app_dep}_FOUND) + find_package(${qt_app_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${qt_app_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(qt_app_INCLUDE_DIRS ${${qt_app_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(qt_app_LIBRARIES ${qt_app_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${qt_app_dep}_LIBRARIES}) + _list_append_deduplicate(qt_app_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(qt_app_LIBRARIES ${qt_app_LIBRARIES}) + + _list_append_unique(qt_app_LIBRARY_DIRS ${${qt_app_dep}_LIBRARY_DIRS}) + list(APPEND qt_app_EXPORTED_TARGETS ${${qt_app_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${qt_app_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/build/ui_design/catkin_generated/ordered_paths.cmake b/src/Joint_Rescue_development/build/ui_design/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..afa3bade --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/kinetic/lib") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/ui_design/catkin_generated/package.cmake b/src/Joint_Rescue_development/build/ui_design/catkin_generated/package.cmake new file mode 100644 index 00000000..d5ff6915 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "qt_app") +set(qt_app_VERSION "0.0.1") +set(qt_app_MAINTAINER "Randoms ") +set(qt_app_PACKAGE_FORMAT "2") +set(qt_app_BUILD_DEPENDS "qtbase5-dev" "rviz" "roscpp" "std_msgs") +set(qt_app_BUILD_EXPORT_DEPENDS "roscpp" "std_msgs") +set(qt_app_BUILDTOOL_DEPENDS "catkin") +set(qt_app_BUILDTOOL_EXPORT_DEPENDS ) +set(qt_app_EXEC_DEPENDS "libqt5-core" "libqt5-gui" "libqt5-widgets" "rviz" "roscpp" "std_msgs") +set(qt_app_RUN_DEPENDS "libqt5-core" "libqt5-gui" "libqt5-widgets" "rviz" "roscpp" "std_msgs") +set(qt_app_TEST_DEPENDS ) +set(qt_app_DOC_DEPENDS ) +set(qt_app_URL_WEBSITE "http://github.com/bluewhalerobot/udp_test") +set(qt_app_URL_BUGTRACKER "https://github.com/bluewhalerobot/udp_test/issues") +set(qt_app_URL_REPOSITORY "https://github.com/bluewhalerobot/udp_test") +set(qt_app_DEPRECATED "") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/ui_design/catkin_generated/pkg.develspace.context.pc.py b/src/Joint_Rescue_development/build/ui_design/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..0ad5abdb --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "qt_app" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/devel" +PROJECT_VERSION = "0.0.1" diff --git a/src/Joint_Rescue_development/build/ui_design/catkin_generated/pkg.installspace.context.pc.py b/src/Joint_Rescue_development/build/ui_design/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..4736d936 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "qt_app" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/install" +PROJECT_VERSION = "0.0.1" diff --git a/src/Joint_Rescue_development/build/ui_design/catkin_generated/stamps/qt_app/package.xml.stamp b/src/Joint_Rescue_development/build/ui_design/catkin_generated/stamps/qt_app/package.xml.stamp new file mode 100644 index 00000000..e4aab712 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/catkin_generated/stamps/qt_app/package.xml.stamp @@ -0,0 +1,30 @@ + + qt_app + 0.0.1 + + udp subscribe test + + MIT + Randoms + Randoms + http://github.com/bluewhalerobot/udp_test + https://github.com/bluewhalerobot/udp_test/issues + https://github.com/bluewhalerobot/udp_test + + catkin + + qtbase5-dev + rviz + + roscpp + std_msgs + + libqt5-core + libqt5-gui + libqt5-widgets + rviz + + + + + diff --git a/src/Joint_Rescue_development/build/ui_design/catkin_generated/stamps/qt_app/pkg.pc.em.stamp b/src/Joint_Rescue_development/build/ui_design/catkin_generated/stamps/qt_app/pkg.pc.em.stamp new file mode 100644 index 00000000..549fb75c --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/catkin_generated/stamps/qt_app/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Joint_Rescue_development/build/ui_design/cmake_install.cmake b/src/Joint_Rescue_development/build/ui_design/cmake_install.cmake new file mode 100644 index 00000000..882cdac4 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/chinhan/Joint_Rescue_development/src/ui_design + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/chinhan/Joint_Rescue_development/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Debug") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/build/ui_design/catkin_generated/installspace/qt_app.pc") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/qt_app/cmake" TYPE FILE FILES + "/home/chinhan/Joint_Rescue_development/build/ui_design/catkin_generated/installspace/qt_appConfig.cmake" + "/home/chinhan/Joint_Rescue_development/build/ui_design/catkin_generated/installspace/qt_appConfig-version.cmake" + ) +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/qt_app" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/src/ui_design/package.xml") +endif() + diff --git a/src/Joint_Rescue_development/build/ui_design/database_automoc.cpp b/src/Joint_Rescue_development/build/ui_design/database_automoc.cpp new file mode 100644 index 00000000..af538d3d --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/database_automoc.cpp @@ -0,0 +1,2 @@ +/* This file is autogenerated, do not edit*/ +enum some_compilers { need_more_than_nothing }; diff --git a/src/Joint_Rescue_development/build/ui_design/mainwindow_automoc.cpp b/src/Joint_Rescue_development/build/ui_design/mainwindow_automoc.cpp new file mode 100644 index 00000000..10a412bc --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/mainwindow_automoc.cpp @@ -0,0 +1,2 @@ +/* This file is autogenerated, do not edit*/ +#include "moc_mainwindow.cpp" diff --git a/src/Joint_Rescue_development/build/ui_design/missionset_automoc.cpp b/src/Joint_Rescue_development/build/ui_design/missionset_automoc.cpp new file mode 100644 index 00000000..ac16d5d8 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/missionset_automoc.cpp @@ -0,0 +1,2 @@ +/* This file is autogenerated, do not edit*/ +#include "moc_missionset.cpp" diff --git a/src/Joint_Rescue_development/build/ui_design/missionwindow_automoc.cpp b/src/Joint_Rescue_development/build/ui_design/missionwindow_automoc.cpp new file mode 100644 index 00000000..cd7a3819 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/missionwindow_automoc.cpp @@ -0,0 +1,2 @@ +/* This file is autogenerated, do not edit*/ +#include "moc_missionwindow.cpp" diff --git a/src/Joint_Rescue_development/build/ui_design/moc_mainwindow.cpp b/src/Joint_Rescue_development/build/ui_design/moc_mainwindow.cpp new file mode 100644 index 00000000..25693ff0 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/moc_mainwindow.cpp @@ -0,0 +1,111 @@ +/**************************************************************************** +** Meta object code from reading C++ file 'mainwindow.h' +** +** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) +** +** WARNING! All changes made in this file will be lost! +*****************************************************************************/ + +#include "../../src/ui_design/include/mainwindow.h" +#include +#include +#if !defined(Q_MOC_OUTPUT_REVISION) +#error "The header file 'mainwindow.h' doesn't include ." +#elif Q_MOC_OUTPUT_REVISION != 67 +#error "This file was generated using the moc from 5.5.1. It" +#error "cannot be used with the include files from this version of Qt." +#error "(The moc has changed too much.)" +#endif + +QT_BEGIN_MOC_NAMESPACE +struct qt_meta_stringdata_MainWindow_t { + QByteArrayData data[3]; + char stringdata0[25]; +}; +#define QT_MOC_LITERAL(idx, ofs, len) \ + Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ + qptrdiff(offsetof(qt_meta_stringdata_MainWindow_t, stringdata0) + ofs \ + - idx * sizeof(QByteArrayData)) \ + ) +static const qt_meta_stringdata_MainWindow_t qt_meta_stringdata_MainWindow = { + { +QT_MOC_LITERAL(0, 0, 10), // "MainWindow" +QT_MOC_LITERAL(1, 11, 12), // "toMissionSet" +QT_MOC_LITERAL(2, 24, 0) // "" + + }, + "MainWindow\0toMissionSet\0" +}; +#undef QT_MOC_LITERAL + +static const uint qt_meta_data_MainWindow[] = { + + // content: + 7, // revision + 0, // classname + 0, 0, // classinfo + 1, 14, // methods + 0, 0, // properties + 0, 0, // enums/sets + 0, 0, // constructors + 0, // flags + 0, // signalCount + + // slots: name, argc, parameters, tag, flags + 1, 0, 19, 2, 0x08 /* Private */, + + // slots: parameters + QMetaType::Void, + + 0 // eod +}; + +void MainWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) +{ + if (_c == QMetaObject::InvokeMetaMethod) { + MainWindow *_t = static_cast(_o); + Q_UNUSED(_t) + switch (_id) { + case 0: _t->toMissionSet(); break; + default: ; + } + } + Q_UNUSED(_a); +} + +const QMetaObject MainWindow::staticMetaObject = { + { &QMainWindow::staticMetaObject, qt_meta_stringdata_MainWindow.data, + qt_meta_data_MainWindow, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} +}; + + +const QMetaObject *MainWindow::metaObject() const +{ + return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; +} + +void *MainWindow::qt_metacast(const char *_clname) +{ + if (!_clname) return Q_NULLPTR; + if (!strcmp(_clname, qt_meta_stringdata_MainWindow.stringdata0)) + return static_cast(const_cast< MainWindow*>(this)); + return QMainWindow::qt_metacast(_clname); +} + +int MainWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a) +{ + _id = QMainWindow::qt_metacall(_c, _id, _a); + if (_id < 0) + return _id; + if (_c == QMetaObject::InvokeMetaMethod) { + if (_id < 1) + qt_static_metacall(this, _c, _id, _a); + _id -= 1; + } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { + if (_id < 1) + *reinterpret_cast(_a[0]) = -1; + _id -= 1; + } + return _id; +} +QT_END_MOC_NAMESPACE diff --git a/src/Joint_Rescue_development/build/ui_design/moc_missionset.cpp b/src/Joint_Rescue_development/build/ui_design/moc_missionset.cpp new file mode 100644 index 00000000..a2a65208 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/moc_missionset.cpp @@ -0,0 +1,89 @@ +/**************************************************************************** +** Meta object code from reading C++ file 'missionset.h' +** +** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) +** +** WARNING! All changes made in this file will be lost! +*****************************************************************************/ + +#include "../../src/ui_design/include/missionset.h" +#include +#include +#if !defined(Q_MOC_OUTPUT_REVISION) +#error "The header file 'missionset.h' doesn't include ." +#elif Q_MOC_OUTPUT_REVISION != 67 +#error "This file was generated using the moc from 5.5.1. It" +#error "cannot be used with the include files from this version of Qt." +#error "(The moc has changed too much.)" +#endif + +QT_BEGIN_MOC_NAMESPACE +struct qt_meta_stringdata_MissionSet_t { + QByteArrayData data[1]; + char stringdata0[11]; +}; +#define QT_MOC_LITERAL(idx, ofs, len) \ + Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ + qptrdiff(offsetof(qt_meta_stringdata_MissionSet_t, stringdata0) + ofs \ + - idx * sizeof(QByteArrayData)) \ + ) +static const qt_meta_stringdata_MissionSet_t qt_meta_stringdata_MissionSet = { + { +QT_MOC_LITERAL(0, 0, 10) // "MissionSet" + + }, + "MissionSet" +}; +#undef QT_MOC_LITERAL + +static const uint qt_meta_data_MissionSet[] = { + + // content: + 7, // revision + 0, // classname + 0, 0, // classinfo + 0, 0, // methods + 0, 0, // properties + 0, 0, // enums/sets + 0, 0, // constructors + 0, // flags + 0, // signalCount + + 0 // eod +}; + +void MissionSet::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) +{ + Q_UNUSED(_o); + Q_UNUSED(_id); + Q_UNUSED(_c); + Q_UNUSED(_a); +} + +const QMetaObject MissionSet::staticMetaObject = { + { &QDialog::staticMetaObject, qt_meta_stringdata_MissionSet.data, + qt_meta_data_MissionSet, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} +}; + + +const QMetaObject *MissionSet::metaObject() const +{ + return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; +} + +void *MissionSet::qt_metacast(const char *_clname) +{ + if (!_clname) return Q_NULLPTR; + if (!strcmp(_clname, qt_meta_stringdata_MissionSet.stringdata0)) + return static_cast(const_cast< MissionSet*>(this)); + return QDialog::qt_metacast(_clname); +} + +int MissionSet::qt_metacall(QMetaObject::Call _c, int _id, void **_a) +{ + _id = QDialog::qt_metacall(_c, _id, _a); + if (_id < 0) + return _id; + return _id; +} +QT_END_MOC_NAMESPACE diff --git a/src/Joint_Rescue_development/build/ui_design/moc_missionwindow.cpp b/src/Joint_Rescue_development/build/ui_design/moc_missionwindow.cpp new file mode 100644 index 00000000..b62065ac --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/moc_missionwindow.cpp @@ -0,0 +1,89 @@ +/**************************************************************************** +** Meta object code from reading C++ file 'missionwindow.h' +** +** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) +** +** WARNING! All changes made in this file will be lost! +*****************************************************************************/ + +#include "../../src/ui_design/include/missionwindow.h" +#include +#include +#if !defined(Q_MOC_OUTPUT_REVISION) +#error "The header file 'missionwindow.h' doesn't include ." +#elif Q_MOC_OUTPUT_REVISION != 67 +#error "This file was generated using the moc from 5.5.1. It" +#error "cannot be used with the include files from this version of Qt." +#error "(The moc has changed too much.)" +#endif + +QT_BEGIN_MOC_NAMESPACE +struct qt_meta_stringdata_MissionWindow_t { + QByteArrayData data[1]; + char stringdata0[14]; +}; +#define QT_MOC_LITERAL(idx, ofs, len) \ + Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ + qptrdiff(offsetof(qt_meta_stringdata_MissionWindow_t, stringdata0) + ofs \ + - idx * sizeof(QByteArrayData)) \ + ) +static const qt_meta_stringdata_MissionWindow_t qt_meta_stringdata_MissionWindow = { + { +QT_MOC_LITERAL(0, 0, 13) // "MissionWindow" + + }, + "MissionWindow" +}; +#undef QT_MOC_LITERAL + +static const uint qt_meta_data_MissionWindow[] = { + + // content: + 7, // revision + 0, // classname + 0, 0, // classinfo + 0, 0, // methods + 0, 0, // properties + 0, 0, // enums/sets + 0, 0, // constructors + 0, // flags + 0, // signalCount + + 0 // eod +}; + +void MissionWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) +{ + Q_UNUSED(_o); + Q_UNUSED(_id); + Q_UNUSED(_c); + Q_UNUSED(_a); +} + +const QMetaObject MissionWindow::staticMetaObject = { + { &QWidget::staticMetaObject, qt_meta_stringdata_MissionWindow.data, + qt_meta_data_MissionWindow, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} +}; + + +const QMetaObject *MissionWindow::metaObject() const +{ + return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; +} + +void *MissionWindow::qt_metacast(const char *_clname) +{ + if (!_clname) return Q_NULLPTR; + if (!strcmp(_clname, qt_meta_stringdata_MissionWindow.stringdata0)) + return static_cast(const_cast< MissionWindow*>(this)); + return QWidget::qt_metacast(_clname); +} + +int MissionWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a) +{ + _id = QWidget::qt_metacall(_c, _id, _a); + if (_id < 0) + return _id; + return _id; +} +QT_END_MOC_NAMESPACE diff --git a/src/Joint_Rescue_development/build/ui_design/moc_myviz.cpp b/src/Joint_Rescue_development/build/ui_design/moc_myviz.cpp new file mode 100644 index 00000000..62243f0b --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/moc_myviz.cpp @@ -0,0 +1,117 @@ +/**************************************************************************** +** Meta object code from reading C++ file 'myviz.h' +** +** Created by: The Qt Meta Object Compiler version 67 (Qt 5.5.1) +** +** WARNING! All changes made in this file will be lost! +*****************************************************************************/ + +#include "../../src/ui_design/include/myviz.h" +#include +#include +#if !defined(Q_MOC_OUTPUT_REVISION) +#error "The header file 'myviz.h' doesn't include ." +#elif Q_MOC_OUTPUT_REVISION != 67 +#error "This file was generated using the moc from 5.5.1. It" +#error "cannot be used with the include files from this version of Qt." +#error "(The moc has changed too much.)" +#endif + +QT_BEGIN_MOC_NAMESPACE +struct qt_meta_stringdata_MyViz_t { + QByteArrayData data[6]; + char stringdata0[68]; +}; +#define QT_MOC_LITERAL(idx, ofs, len) \ + Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ + qptrdiff(offsetof(qt_meta_stringdata_MyViz_t, stringdata0) + ofs \ + - idx * sizeof(QByteArrayData)) \ + ) +static const qt_meta_stringdata_MyViz_t qt_meta_stringdata_MyViz = { + { +QT_MOC_LITERAL(0, 0, 5), // "MyViz" +QT_MOC_LITERAL(1, 6, 12), // "setThickness" +QT_MOC_LITERAL(2, 19, 0), // "" +QT_MOC_LITERAL(3, 20, 17), // "thickness_percent" +QT_MOC_LITERAL(4, 38, 11), // "setCellSize" +QT_MOC_LITERAL(5, 50, 17) // "cell_size_percent" + + }, + "MyViz\0setThickness\0\0thickness_percent\0" + "setCellSize\0cell_size_percent" +}; +#undef QT_MOC_LITERAL + +static const uint qt_meta_data_MyViz[] = { + + // content: + 7, // revision + 0, // classname + 0, 0, // classinfo + 2, 14, // methods + 0, 0, // properties + 0, 0, // enums/sets + 0, 0, // constructors + 0, // flags + 0, // signalCount + + // slots: name, argc, parameters, tag, flags + 1, 1, 24, 2, 0x08 /* Private */, + 4, 1, 27, 2, 0x08 /* Private */, + + // slots: parameters + QMetaType::Void, QMetaType::Int, 3, + QMetaType::Void, QMetaType::Int, 5, + + 0 // eod +}; + +void MyViz::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) +{ + if (_c == QMetaObject::InvokeMetaMethod) { + MyViz *_t = static_cast(_o); + Q_UNUSED(_t) + switch (_id) { + case 0: _t->setThickness((*reinterpret_cast< int(*)>(_a[1]))); break; + case 1: _t->setCellSize((*reinterpret_cast< int(*)>(_a[1]))); break; + default: ; + } + } +} + +const QMetaObject MyViz::staticMetaObject = { + { &QWidget::staticMetaObject, qt_meta_stringdata_MyViz.data, + qt_meta_data_MyViz, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} +}; + + +const QMetaObject *MyViz::metaObject() const +{ + return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; +} + +void *MyViz::qt_metacast(const char *_clname) +{ + if (!_clname) return Q_NULLPTR; + if (!strcmp(_clname, qt_meta_stringdata_MyViz.stringdata0)) + return static_cast(const_cast< MyViz*>(this)); + return QWidget::qt_metacast(_clname); +} + +int MyViz::qt_metacall(QMetaObject::Call _c, int _id, void **_a) +{ + _id = QWidget::qt_metacall(_c, _id, _a); + if (_id < 0) + return _id; + if (_c == QMetaObject::InvokeMetaMethod) { + if (_id < 2) + qt_static_metacall(this, _c, _id, _a); + _id -= 2; + } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { + if (_id < 2) + *reinterpret_cast(_a[0]) = -1; + _id -= 2; + } + return _id; +} +QT_END_MOC_NAMESPACE diff --git a/src/Joint_Rescue_development/build/ui_design/qt_app.cbp b/src/Joint_Rescue_development/build/ui_design/qt_app.cbp new file mode 100644 index 00000000..0d912b88 --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/qt_app.cbp @@ -0,0 +1,3975 @@ + + + + + + diff --git a/src/Joint_Rescue_development/build/ui_design/qt_app_node_automoc.cpp b/src/Joint_Rescue_development/build/ui_design/qt_app_node_automoc.cpp new file mode 100644 index 00000000..af538d3d --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/qt_app_node_automoc.cpp @@ -0,0 +1,2 @@ +/* This file is autogenerated, do not edit*/ +enum some_compilers { need_more_than_nothing }; diff --git a/src/Joint_Rescue_development/build/ui_design/rvizwindow_automoc.cpp b/src/Joint_Rescue_development/build/ui_design/rvizwindow_automoc.cpp new file mode 100644 index 00000000..3f6e737e --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/rvizwindow_automoc.cpp @@ -0,0 +1,2 @@ +/* This file is autogenerated, do not edit*/ +#include "moc_myviz.cpp" diff --git a/src/Joint_Rescue_development/build/ui_design/ui_mainwindow.h b/src/Joint_Rescue_development/build/ui_design/ui_mainwindow.h new file mode 100644 index 00000000..188c2e1f --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/ui_mainwindow.h @@ -0,0 +1,66 @@ +/******************************************************************************** +** Form generated from reading UI file 'mainwindow.ui' +** +** Created by: Qt User Interface Compiler version 5.5.1 +** +** WARNING! All changes made in this file will be lost when recompiling UI file! +********************************************************************************/ + +#ifndef UI_MAINWINDOW_H +#define UI_MAINWINDOW_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +QT_BEGIN_NAMESPACE + +class Ui_MainWindow +{ +public: + QWidget *centralwidget; + QMenuBar *menubar; + QStatusBar *statusbar; + + void setupUi(QMainWindow *MainWindow) + { + if (MainWindow->objectName().isEmpty()) + MainWindow->setObjectName(QStringLiteral("MainWindow")); + MainWindow->resize(800, 600); + MainWindow->setAutoFillBackground(true); + centralwidget = new QWidget(MainWindow); + centralwidget->setObjectName(QStringLiteral("centralwidget")); + MainWindow->setCentralWidget(centralwidget); + menubar = new QMenuBar(MainWindow); + menubar->setObjectName(QStringLiteral("menubar")); + menubar->setGeometry(QRect(0, 0, 800, 23)); + MainWindow->setMenuBar(menubar); + statusbar = new QStatusBar(MainWindow); + statusbar->setObjectName(QStringLiteral("statusbar")); + MainWindow->setStatusBar(statusbar); + + retranslateUi(MainWindow); + + QMetaObject::connectSlotsByName(MainWindow); + } // setupUi + + void retranslateUi(QMainWindow *MainWindow) + { + MainWindow->setWindowTitle(QApplication::translate("MainWindow", "MainWindow", 0)); + } // retranslateUi + +}; + +namespace Ui { + class MainWindow: public Ui_MainWindow {}; +} // namespace Ui + +QT_END_NAMESPACE + +#endif // UI_MAINWINDOW_H diff --git a/src/Joint_Rescue_development/build/ui_design/ui_missionset.h b/src/Joint_Rescue_development/build/ui_design/ui_missionset.h new file mode 100644 index 00000000..dae5687f --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/ui_missionset.h @@ -0,0 +1,58 @@ +/******************************************************************************** +** Form generated from reading UI file 'missionset.ui' +** +** Created by: Qt User Interface Compiler version 5.5.1 +** +** WARNING! All changes made in this file will be lost when recompiling UI file! +********************************************************************************/ + +#ifndef UI_MISSIONSET_H +#define UI_MISSIONSET_H + +#include +#include +#include +#include +#include +#include +#include + +QT_BEGIN_NAMESPACE + +class Ui_MissionSet +{ +public: + QDialogButtonBox *buttonBox; + + void setupUi(QDialog *MissionSet) + { + if (MissionSet->objectName().isEmpty()) + MissionSet->setObjectName(QStringLiteral("MissionSet")); + MissionSet->resize(400, 300); + buttonBox = new QDialogButtonBox(MissionSet); + buttonBox->setObjectName(QStringLiteral("buttonBox")); + buttonBox->setGeometry(QRect(30, 240, 341, 32)); + buttonBox->setOrientation(Qt::Horizontal); + buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Ok); + + retranslateUi(MissionSet); + QObject::connect(buttonBox, SIGNAL(accepted()), MissionSet, SLOT(accept())); + QObject::connect(buttonBox, SIGNAL(rejected()), MissionSet, SLOT(reject())); + + QMetaObject::connectSlotsByName(MissionSet); + } // setupUi + + void retranslateUi(QDialog *MissionSet) + { + MissionSet->setWindowTitle(QApplication::translate("MissionSet", "Dialog", 0)); + } // retranslateUi + +}; + +namespace Ui { + class MissionSet: public Ui_MissionSet {}; +} // namespace Ui + +QT_END_NAMESPACE + +#endif // UI_MISSIONSET_H diff --git a/src/Joint_Rescue_development/build/ui_design/ui_missionwindow.h b/src/Joint_Rescue_development/build/ui_design/ui_missionwindow.h new file mode 100644 index 00000000..ad16925d --- /dev/null +++ b/src/Joint_Rescue_development/build/ui_design/ui_missionwindow.h @@ -0,0 +1,49 @@ +/******************************************************************************** +** Form generated from reading UI file 'missionwindow.ui' +** +** Created by: Qt User Interface Compiler version 5.5.1 +** +** WARNING! All changes made in this file will be lost when recompiling UI file! +********************************************************************************/ + +#ifndef UI_MISSIONWINDOW_H +#define UI_MISSIONWINDOW_H + +#include +#include +#include +#include +#include +#include + +QT_BEGIN_NAMESPACE + +class Ui_MissionWindow +{ +public: + + void setupUi(QWidget *MissionWindow) + { + if (MissionWindow->objectName().isEmpty()) + MissionWindow->setObjectName(QStringLiteral("MissionWindow")); + MissionWindow->resize(400, 300); + + retranslateUi(MissionWindow); + + QMetaObject::connectSlotsByName(MissionWindow); + } // setupUi + + void retranslateUi(QWidget *MissionWindow) + { + MissionWindow->setWindowTitle(QApplication::translate("MissionWindow", "Form", 0)); + } // retranslateUi + +}; + +namespace Ui { + class MissionWindow: public Ui_MissionWindow {}; +} // namespace Ui + +QT_END_NAMESPACE + +#endif // UI_MISSIONWINDOW_H diff --git 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unitree_ros_to_real-3.2.1/unitree_legged_msgs/CMakeFiles/unitree_legged_msgs_generate_messages_eus.dir/build +.PHONY : unitree_legged_msgs_generate_messages_eus/fast + +# Convenience name for target. +unitree_ros_to_real-3.2.1/unitree_legged_msgs/CMakeFiles/unitree_legged_msgs_genlisp.dir/rule: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f CMakeFiles/Makefile2 unitree_ros_to_real-3.2.1/unitree_legged_msgs/CMakeFiles/unitree_legged_msgs_genlisp.dir/rule +.PHONY : unitree_ros_to_real-3.2.1/unitree_legged_msgs/CMakeFiles/unitree_legged_msgs_genlisp.dir/rule + +# Convenience name for target. +unitree_legged_msgs_genlisp: unitree_ros_to_real-3.2.1/unitree_legged_msgs/CMakeFiles/unitree_legged_msgs_genlisp.dir/rule + +.PHONY : unitree_legged_msgs_genlisp + +# fast build rule for target. +unitree_legged_msgs_genlisp/fast: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_msgs/CMakeFiles/unitree_legged_msgs_genlisp.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_msgs/CMakeFiles/unitree_legged_msgs_genlisp.dir/build +.PHONY : unitree_legged_msgs_genlisp/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install" + @echo "... rebuild_cache" + @echo "... test" + @echo "... install/strip" + @echo "... unitree_legged_msgs_genpy" + @echo "... unitree_legged_msgs_gennodejs" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_HighState" + @echo "... unitree_legged_msgs_generate_messages" + @echo "... unitree_legged_msgs_generate_messages_lisp" + @echo "... install/local" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_IMU" + @echo "... _catkin_empty_exported_target" + @echo "... unitree_legged_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_cpp" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_LowState" + @echo "... sensor_msgs_generate_messages_py" + @echo "... list_install_components" + @echo "... sensor_msgs_generate_messages_eus" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_LED" + @echo "... unitree_legged_msgs_geneus" + @echo "... sensor_msgs_generate_messages_nodejs" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_MotorCmd" + @echo "... unitree_legged_msgs_generate_messages_cpp" + @echo "... unitree_legged_msgs_generate_messages_nodejs" + @echo "... sensor_msgs_generate_messages_lisp" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_Cartesian" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_MotorState" + @echo "... edit_cache" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_LowCmd" + @echo "... _unitree_legged_msgs_generate_messages_check_deps_HighCmd" + @echo "... unitree_legged_msgs_gencpp" + @echo "... unitree_legged_msgs_generate_messages_eus" + @echo "... unitree_legged_msgs_genlisp" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/chinhan/Joint_Rescue_development/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs-msg-extras.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs-msg-extras.cmake new file mode 100644 index 00000000..3c19c86b --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs-msg-extras.cmake @@ -0,0 +1,2 @@ +set(unitree_legged_msgs_MESSAGE_FILES "msg/MotorCmd.msg;msg/MotorState.msg;msg/Cartesian.msg;msg/IMU.msg;msg/LED.msg;msg/LowCmd.msg;msg/LowState.msg;msg/HighCmd.msg;msg/HighState.msg") +set(unitree_legged_msgs_SERVICE_FILES "") diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs-msg-paths.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs-msg-paths.cmake new file mode 100644 index 00000000..2614251b --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in + +_prepend_path("${unitree_legged_msgs_DIR}/.." "msg" unitree_legged_msgs_MSG_INCLUDE_DIRS UNIQUE) +set(unitree_legged_msgs_MSG_DEPENDENCIES std_msgs;geometry_msgs;sensor_msgs) diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs.pc b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs.pc new file mode 100644 index 00000000..542d275c --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgs.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/install + +Name: unitree_legged_msgs +Description: Description of unitree_legged_msgs +Version: 0.0.0 +Cflags: -I${prefix}/include +Libs: -L${prefix}/lib +Requires: message_runtime std_msgs geometry_msgs sensor_msgs diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgsConfig-version.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgsConfig-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgsConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgsConfig.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgsConfig.cmake new file mode 100644 index 00000000..9d88495f --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/installspace/unitree_legged_msgsConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(unitree_legged_msgs_CONFIG_INCLUDED) + return() +endif() +set(unitree_legged_msgs_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(unitree_legged_msgs_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs) + set(unitree_legged_msgs_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(unitree_legged_msgs_INSTALL_PREFIX "") + set(unitree_legged_msgs_PREFIX ${unitree_legged_msgs_DEVEL_PREFIX}) +else() + set(unitree_legged_msgs_SOURCE_PREFIX "") + set(unitree_legged_msgs_DEVEL_PREFIX "") + set(unitree_legged_msgs_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(unitree_legged_msgs_PREFIX ${unitree_legged_msgs_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'unitree_legged_msgs' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(unitree_legged_msgs_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include " STREQUAL " ") + set(unitree_legged_msgs_INCLUDE_DIRS "") + set(_include_dirs "include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'unitree ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${unitree_legged_msgs_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'unitree_legged_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'unitree_legged_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(unitree_legged_msgs_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT unitree_legged_msgs_NUM_DUMMY_TARGETS) + set(unitree_legged_msgs_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::unitree_legged_msgs::wrapped-linker-option${unitree_legged_msgs_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR unitree_legged_msgs_NUM_DUMMY_TARGETS "${unitree_legged_msgs_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::unitree_legged_msgs::wrapped-linker-option${unitree_legged_msgs_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND unitree_legged_msgs_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/install/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(unitree_legged_msgs_LIBRARY_DIRS ${lib_path}) + list(APPEND unitree_legged_msgs_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'unitree_legged_msgs'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND unitree_legged_msgs_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(unitree_legged_msgs_EXPORTED_TARGETS "unitree_legged_msgs_generate_messages_cpp;unitree_legged_msgs_generate_messages_eus;unitree_legged_msgs_generate_messages_lisp;unitree_legged_msgs_generate_messages_nodejs;unitree_legged_msgs_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${unitree_legged_msgs_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "message_runtime;std_msgs;geometry_msgs;sensor_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 unitree_legged_msgs_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${unitree_legged_msgs_dep}_FOUND) + find_package(${unitree_legged_msgs_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${unitree_legged_msgs_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(unitree_legged_msgs_INCLUDE_DIRS ${${unitree_legged_msgs_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(unitree_legged_msgs_LIBRARIES ${unitree_legged_msgs_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${unitree_legged_msgs_dep}_LIBRARIES}) + _list_append_deduplicate(unitree_legged_msgs_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(unitree_legged_msgs_LIBRARIES ${unitree_legged_msgs_LIBRARIES}) + + _list_append_unique(unitree_legged_msgs_LIBRARY_DIRS ${${unitree_legged_msgs_dep}_LIBRARY_DIRS}) + list(APPEND unitree_legged_msgs_EXPORTED_TARGETS ${${unitree_legged_msgs_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "unitree_legged_msgs-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${unitree_legged_msgs_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/ordered_paths.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..afa3bade --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/kinetic/lib") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/package.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/package.cmake new file mode 100644 index 00000000..821bcf7c --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "unitree_legged_msgs") +set(unitree_legged_msgs_VERSION "0.0.0") +set(unitree_legged_msgs_MAINTAINER "unitree ") +set(unitree_legged_msgs_PACKAGE_FORMAT "2") +set(unitree_legged_msgs_BUILD_DEPENDS "message_runtime" "message_generation" "std_msgs" "geometry_msgs" "sensor_msgs") +set(unitree_legged_msgs_BUILD_EXPORT_DEPENDS "message_runtime" "message_generation" "std_msgs" "geometry_msgs" "sensor_msgs") +set(unitree_legged_msgs_BUILDTOOL_DEPENDS "catkin") +set(unitree_legged_msgs_BUILDTOOL_EXPORT_DEPENDS ) +set(unitree_legged_msgs_EXEC_DEPENDS "message_runtime" "message_generation" "std_msgs" "geometry_msgs" "sensor_msgs") +set(unitree_legged_msgs_RUN_DEPENDS "message_runtime" "message_generation" "std_msgs" "geometry_msgs" "sensor_msgs") +set(unitree_legged_msgs_TEST_DEPENDS ) +set(unitree_legged_msgs_DOC_DEPENDS ) +set(unitree_legged_msgs_URL_WEBSITE "") +set(unitree_legged_msgs_URL_BUGTRACKER "") +set(unitree_legged_msgs_URL_REPOSITORY "") +set(unitree_legged_msgs_DEPRECATED "") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/pkg.develspace.context.pc.py b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..0ff256d9 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/chinhan/Joint_Rescue_development/devel/include".split(';') if "/home/chinhan/Joint_Rescue_development/devel/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs;sensor_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "unitree_legged_msgs" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/devel" +PROJECT_VERSION = "0.0.0" diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/pkg.installspace.context.pc.py b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..f2c9a5db --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs;sensor_msgs".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "unitree_legged_msgs" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/install" +PROJECT_VERSION = "0.0.0" diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/package.xml.stamp b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/package.xml.stamp new file mode 100644 index 00000000..a0a1d19a --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/package.xml.stamp @@ -0,0 +1,19 @@ + + + + unitree_legged_msgs + 0.0.0 + + The test messgaes package. + + unitree + TODO + + catkin + message_runtime + message_generation + std_msgs + geometry_msgs + sensor_msgs + + \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/pkg-genmsg.cmake.em.stamp b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/pkg-genmsg.cmake.em.stamp new file mode 100644 index 00000000..f02628ff --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/pkg-genmsg.cmake.em.stamp @@ -0,0 +1,166 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +@{ +import os +import sys + +import genmsg +import genmsg.base +genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ) +import genmsg.deps +import genmsg.gentools + +# split incoming variables +messages = messages_str.split(';') if messages_str != '' else [] +services = services_str.split(';') if services_str != '' else [] +dependencies = dependencies_str.split(';') if dependencies_str != '' else [] +dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else [] + +dep_search_paths_dict = {} +dep_search_paths_tuple_list = [] +is_even = True +for val in dep_search_paths: + if is_even: + dep_search_paths_dict.setdefault(val, []) + val_prev = val + is_even = False + else: + dep_search_paths_dict[val_prev].append(val) + dep_search_paths_tuple_list.append((val_prev, val)) + is_even = True +dep_search_paths = dep_search_paths_dict + +if not messages and not services: + print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")') + +msg_deps = {} +msg_dep_types = {} +for m in messages: + try: + _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths) + msg_deps[m] = [d[1] for d in _deps] + msg_dep_types[m] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"'))) + +srv_deps = {} +srv_dep_types = {} +for s in services: + try: + _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths) + srv_deps[s] = [d[1] for d in _deps] + srv_dep_types[s] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"'))) + +}@ +message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services") + +set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))") + +# Find all generators +@[if langs]@ +@[for l in langs.split(';')]@ +find_package(@l REQUIRED) +@[end for]@ +@[end if]@ + +add_custom_target(@(pkg_name)_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure +@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))} +@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))} +@[for f in all_deps.keys()]@ +@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')} +get_filename_component(_filename "@(f)" NAME_WE) +add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)" +) +@[end for]@# messages and services + +# +# langs = @langs +# + +@[if langs]@ +@[for l in langs.split(';')]@ +### Section generating for lang: @l +### Generating Messages +@[for m in msg_deps.keys()]@ +_generate_msg_@(l[3:])(@pkg_name + "@m" + "${MSG_I_FLAGS}" + "@(';'.join(msg_deps[m]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# messages + +### Generating Services +@[for s in srv_deps.keys()]@ +_generate_srv_@(l[3:])(@pkg_name + "@s" + "${MSG_I_FLAGS}" + "@(';'.join(srv_deps[s]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# services + +### Generating Module File +_generate_module_@(l[3:])(@pkg_name + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + "${ALL_GEN_OUTPUT_FILES_@(l[3:])}" +) + +add_custom_target(@(pkg_name)_generate_messages_@(l[3:]) + DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])} +) +add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:])) + +# add dependencies to all check dependencies targets +@[for f in all_deps.keys()]@ +get_filename_component(_filename "@(f)" NAME_WE) +add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename}) +@[end for]@# messages and services + +# target for backward compatibility +add_custom_target(@(pkg_name)_@(l)) +add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:])) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:])) + +@[end for]@# langs +@[end if]@ + +@[if langs]@ +@[for l in langs.split(';')]@ + +if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name) +@[if l == 'genpy']@ + install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")") +@[end if]@ + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} +@[if l == 'genpy' and package_has_static_sources]@ + # skip all init files + PATTERN "__init__.py" EXCLUDE + PATTERN "__init__.pyc" EXCLUDE + ) + # install init files which are not in the root folder of the generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} + FILES_MATCHING + REGEX "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)/.+/__init__.pyc?$" +@[end if]@ + ) +endif() +@[for d in dependencies]@ +if(TARGET @(d)_generate_messages_@(l[3:])) + add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:])) +endif() +@[end for]@# dependencies +@[end for]@# langs +@[end if]@ diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/pkg.pc.em.stamp b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/pkg.pc.em.stamp new file mode 100644 index 00000000..549fb75c --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/stamps/unitree_legged_msgs/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/unitree_legged_msgs-msg-extras.cmake.develspace.in b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/unitree_legged_msgs-msg-extras.cmake.develspace.in new file mode 100644 index 00000000..52b56611 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/unitree_legged_msgs-msg-extras.cmake.develspace.in @@ -0,0 +1,2 @@ +set(unitree_legged_msgs_MESSAGE_FILES "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg") +set(unitree_legged_msgs_SERVICE_FILES "") diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/unitree_legged_msgs-msg-extras.cmake.installspace.in b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/unitree_legged_msgs-msg-extras.cmake.installspace.in new file mode 100644 index 00000000..3c19c86b --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/catkin_generated/unitree_legged_msgs-msg-extras.cmake.installspace.in @@ -0,0 +1,2 @@ +set(unitree_legged_msgs_MESSAGE_FILES "msg/MotorCmd.msg;msg/MotorState.msg;msg/Cartesian.msg;msg/IMU.msg;msg/LED.msg;msg/LowCmd.msg;msg/LowState.msg;msg/HighCmd.msg;msg/HighState.msg") +set(unitree_legged_msgs_SERVICE_FILES "") diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake/unitree_legged_msgs-genmsg-context.py b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake/unitree_legged_msgs-genmsg-context.py new file mode 100644 index 00000000..5e67d725 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake/unitree_legged_msgs-genmsg-context.py @@ -0,0 +1,11 @@ +# generated from genmsg/cmake/pkg-genmsg.context.in + +messages_str = "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" +services_str = "" +pkg_name = "unitree_legged_msgs" +dependencies_str = "std_msgs;geometry_msgs;sensor_msgs" +langs = "gencpp;geneus;genlisp;gennodejs;genpy" +dep_include_paths_str = "unitree_legged_msgs;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg;std_msgs;/opt/ros/kinetic/share/std_msgs/cmake/../msg;geometry_msgs;/opt/ros/kinetic/share/geometry_msgs/cmake/../msg;sensor_msgs;/opt/ros/kinetic/share/sensor_msgs/cmake/../msg" +PYTHON_EXECUTABLE = "/usr/bin/python2" +package_has_static_sources = '' == 'TRUE' +genmsg_check_deps_script = "/opt/ros/kinetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake/unitree_legged_msgs-genmsg.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake/unitree_legged_msgs-genmsg.cmake new file mode 100644 index 00000000..09fe7838 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake/unitree_legged_msgs-genmsg.cmake @@ -0,0 +1,640 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +message(STATUS "unitree_legged_msgs: 9 messages, 0 services") + +set(MSG_I_FLAGS "-Iunitree_legged_msgs:/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg;-Istd_msgs:/opt/ros/kinetic/share/std_msgs/cmake/../msg;-Igeometry_msgs:/opt/ros/kinetic/share/geometry_msgs/cmake/../msg;-Isensor_msgs:/opt/ros/kinetic/share/sensor_msgs/cmake/../msg") + +# Find all generators +find_package(gencpp REQUIRED) +find_package(geneus REQUIRED) +find_package(genlisp REQUIRED) +find_package(gennodejs REQUIRED) +find_package(genpy REQUIRED) + +add_custom_target(unitree_legged_msgs_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure + + + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" "unitree_legged_msgs/Cartesian:unitree_legged_msgs/IMU" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" "unitree_legged_msgs/MotorCmd:unitree_legged_msgs/LED:unitree_legged_msgs/Cartesian" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" "unitree_legged_msgs/MotorState:unitree_legged_msgs/Cartesian:unitree_legged_msgs/IMU" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" "" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" "" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" "" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" "" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" "" +) + +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" NAME_WE) +add_custom_target(_unitree_legged_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "unitree_legged_msgs" "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" "unitree_legged_msgs/LED" +) + +# +# langs = gencpp;geneus;genlisp;gennodejs;genpy +# + +### Section generating for lang: gencpp +### Generating Messages +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_cpp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs +) + +### Generating Services + +### Generating Module File +_generate_module_cpp(unitree_legged_msgs + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs + "${ALL_GEN_OUTPUT_FILES_cpp}" +) + +add_custom_target(unitree_legged_msgs_generate_messages_cpp + DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} +) +add_dependencies(unitree_legged_msgs_generate_messages unitree_legged_msgs_generate_messages_cpp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_cpp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(unitree_legged_msgs_gencpp) +add_dependencies(unitree_legged_msgs_gencpp unitree_legged_msgs_generate_messages_cpp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS unitree_legged_msgs_generate_messages_cpp) + +### Section generating for lang: geneus +### Generating Messages +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_eus(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs +) + +### Generating Services + +### Generating Module File +_generate_module_eus(unitree_legged_msgs + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs + "${ALL_GEN_OUTPUT_FILES_eus}" +) + +add_custom_target(unitree_legged_msgs_generate_messages_eus + DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} +) +add_dependencies(unitree_legged_msgs_generate_messages unitree_legged_msgs_generate_messages_eus) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_eus _unitree_legged_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(unitree_legged_msgs_geneus) +add_dependencies(unitree_legged_msgs_geneus unitree_legged_msgs_generate_messages_eus) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS unitree_legged_msgs_generate_messages_eus) + +### Section generating for lang: genlisp +### Generating Messages +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_lisp(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs +) + +### Generating Services + +### Generating Module File +_generate_module_lisp(unitree_legged_msgs + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs + "${ALL_GEN_OUTPUT_FILES_lisp}" +) + +add_custom_target(unitree_legged_msgs_generate_messages_lisp + DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} +) +add_dependencies(unitree_legged_msgs_generate_messages unitree_legged_msgs_generate_messages_lisp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_lisp _unitree_legged_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(unitree_legged_msgs_genlisp) +add_dependencies(unitree_legged_msgs_genlisp unitree_legged_msgs_generate_messages_lisp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS unitree_legged_msgs_generate_messages_lisp) + +### Section generating for lang: gennodejs +### Generating Messages +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_nodejs(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs +) + +### Generating Services + +### Generating Module File +_generate_module_nodejs(unitree_legged_msgs + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs + "${ALL_GEN_OUTPUT_FILES_nodejs}" +) + +add_custom_target(unitree_legged_msgs_generate_messages_nodejs + DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs} +) +add_dependencies(unitree_legged_msgs_generate_messages unitree_legged_msgs_generate_messages_nodejs) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_nodejs _unitree_legged_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(unitree_legged_msgs_gennodejs) +add_dependencies(unitree_legged_msgs_gennodejs unitree_legged_msgs_generate_messages_nodejs) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS unitree_legged_msgs_generate_messages_nodejs) + +### Section generating for lang: genpy +### Generating Messages +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) +_generate_msg_py(unitree_legged_msgs + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" + "${MSG_I_FLAGS}" + "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs +) + +### Generating Services + +### Generating Module File +_generate_module_py(unitree_legged_msgs + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs + "${ALL_GEN_OUTPUT_FILES_py}" +) + +add_custom_target(unitree_legged_msgs_generate_messages_py + DEPENDS ${ALL_GEN_OUTPUT_FILES_py} +) +add_dependencies(unitree_legged_msgs_generate_messages unitree_legged_msgs_generate_messages_py) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg" NAME_WE) +add_dependencies(unitree_legged_msgs_generate_messages_py _unitree_legged_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(unitree_legged_msgs_genpy) +add_dependencies(unitree_legged_msgs_genpy unitree_legged_msgs_generate_messages_py) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS unitree_legged_msgs_generate_messages_py) + + + +if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/unitree_legged_msgs + DESTINATION ${gencpp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_cpp) + add_dependencies(unitree_legged_msgs_generate_messages_cpp std_msgs_generate_messages_cpp) +endif() +if(TARGET geometry_msgs_generate_messages_cpp) + add_dependencies(unitree_legged_msgs_generate_messages_cpp geometry_msgs_generate_messages_cpp) +endif() +if(TARGET sensor_msgs_generate_messages_cpp) + add_dependencies(unitree_legged_msgs_generate_messages_cpp sensor_msgs_generate_messages_cpp) +endif() + +if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/unitree_legged_msgs + DESTINATION ${geneus_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_eus) + add_dependencies(unitree_legged_msgs_generate_messages_eus std_msgs_generate_messages_eus) +endif() +if(TARGET geometry_msgs_generate_messages_eus) + add_dependencies(unitree_legged_msgs_generate_messages_eus geometry_msgs_generate_messages_eus) +endif() +if(TARGET sensor_msgs_generate_messages_eus) + add_dependencies(unitree_legged_msgs_generate_messages_eus sensor_msgs_generate_messages_eus) +endif() + +if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/unitree_legged_msgs + DESTINATION ${genlisp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_lisp) + add_dependencies(unitree_legged_msgs_generate_messages_lisp std_msgs_generate_messages_lisp) +endif() +if(TARGET geometry_msgs_generate_messages_lisp) + add_dependencies(unitree_legged_msgs_generate_messages_lisp geometry_msgs_generate_messages_lisp) +endif() +if(TARGET sensor_msgs_generate_messages_lisp) + add_dependencies(unitree_legged_msgs_generate_messages_lisp sensor_msgs_generate_messages_lisp) +endif() + +if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/unitree_legged_msgs + DESTINATION ${gennodejs_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_nodejs) + add_dependencies(unitree_legged_msgs_generate_messages_nodejs std_msgs_generate_messages_nodejs) +endif() +if(TARGET geometry_msgs_generate_messages_nodejs) + add_dependencies(unitree_legged_msgs_generate_messages_nodejs geometry_msgs_generate_messages_nodejs) +endif() +if(TARGET sensor_msgs_generate_messages_nodejs) + add_dependencies(unitree_legged_msgs_generate_messages_nodejs sensor_msgs_generate_messages_nodejs) +endif() + +if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs) + install(CODE "execute_process(COMMAND \"/usr/bin/python2\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs\")") + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/unitree_legged_msgs + DESTINATION ${genpy_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_py) + add_dependencies(unitree_legged_msgs_generate_messages_py std_msgs_generate_messages_py) +endif() +if(TARGET geometry_msgs_generate_messages_py) + add_dependencies(unitree_legged_msgs_generate_messages_py geometry_msgs_generate_messages_py) +endif() +if(TARGET sensor_msgs_generate_messages_py) + add_dependencies(unitree_legged_msgs_generate_messages_py sensor_msgs_generate_messages_py) +endif() diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake_install.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake_install.cmake new file mode 100644 index 00000000..7366ef4d --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_msgs/cmake_install.cmake @@ -0,0 +1,99 @@ +# Install script for directory: /home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/chinhan/Joint_Rescue_development/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT 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preprocess a source file +src/exe/direct_control.cpp.i: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/direct_control.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/direct_control.dir/src/exe/direct_control.cpp.i +.PHONY : src/exe/direct_control.cpp.i + +src/exe/direct_control.s: src/exe/direct_control.cpp.s + +.PHONY : src/exe/direct_control.s + +# target to generate assembly for a file +src/exe/direct_control.cpp.s: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/direct_control.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/direct_control.dir/src/exe/direct_control.cpp.s +.PHONY : src/exe/direct_control.cpp.s + +src/exe/position_mode.o: src/exe/position_mode.cpp.o + +.PHONY : src/exe/position_mode.o + +# target to build an object file +src/exe/position_mode.cpp.o: + cd 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unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/position_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/position_lcm.dir/src/exe/position_mode.cpp.s +.PHONY : src/exe/position_mode.cpp.s + +src/exe/torque_mode.o: src/exe/torque_mode.cpp.o + +.PHONY : src/exe/torque_mode.o + +# target to build an object file +src/exe/torque_mode.cpp.o: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/torque_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/torque_lcm.dir/src/exe/torque_mode.cpp.o +.PHONY : src/exe/torque_mode.cpp.o + +src/exe/torque_mode.i: src/exe/torque_mode.cpp.i + +.PHONY : src/exe/torque_mode.i + +# target to preprocess a source file +src/exe/torque_mode.cpp.i: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/torque_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/torque_lcm.dir/src/exe/torque_mode.cpp.i +.PHONY : src/exe/torque_mode.cpp.i + +src/exe/torque_mode.s: src/exe/torque_mode.cpp.s + +.PHONY : src/exe/torque_mode.s + +# target to generate assembly for a file +src/exe/torque_mode.cpp.s: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/torque_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/torque_lcm.dir/src/exe/torque_mode.cpp.s +.PHONY : src/exe/torque_mode.cpp.s + +src/exe/velocity_mode.o: src/exe/velocity_mode.cpp.o + +.PHONY : src/exe/velocity_mode.o + +# target to build an object file +src/exe/velocity_mode.cpp.o: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/velocity_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/velocity_lcm.dir/src/exe/velocity_mode.cpp.o +.PHONY : src/exe/velocity_mode.cpp.o + +src/exe/velocity_mode.i: src/exe/velocity_mode.cpp.i + +.PHONY : src/exe/velocity_mode.i + +# target to preprocess a source file +src/exe/velocity_mode.cpp.i: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/velocity_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/velocity_lcm.dir/src/exe/velocity_mode.cpp.i +.PHONY : src/exe/velocity_mode.cpp.i + +src/exe/velocity_mode.s: src/exe/velocity_mode.cpp.s + +.PHONY : src/exe/velocity_mode.s + +# target to generate assembly for a file +src/exe/velocity_mode.cpp.s: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/velocity_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/velocity_lcm.dir/src/exe/velocity_mode.cpp.s +.PHONY : src/exe/velocity_mode.cpp.s + +src/exe/walk_mode.o: src/exe/walk_mode.cpp.o + +.PHONY : src/exe/walk_mode.o + +# target to build an object file +src/exe/walk_mode.cpp.o: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/walk_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.o +.PHONY : src/exe/walk_mode.cpp.o + +src/exe/walk_mode.i: src/exe/walk_mode.cpp.i + +.PHONY : src/exe/walk_mode.i + +# target to preprocess a source file +src/exe/walk_mode.cpp.i: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/walk_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.i +.PHONY : src/exe/walk_mode.cpp.i + +src/exe/walk_mode.s: src/exe/walk_mode.cpp.s + +.PHONY : src/exe/walk_mode.s + +# target to generate assembly for a file +src/exe/walk_mode.cpp.s: + cd /home/chinhan/Joint_Rescue_development/build && $(MAKE) -f unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/walk_lcm.dir/build.make unitree_ros_to_real-3.2.1/unitree_legged_real/CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.s +.PHONY : src/exe/walk_mode.cpp.s + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... torque_lcm" + @echo "... install" + @echo "... lcm_server_3_2" + @echo "... list_install_components" + @echo "... walk_lcm" + @echo "... install/strip" + @echo "... install/local" + @echo "... velocity_lcm" + @echo "... test" + @echo "... position_lcm" + @echo "... edit_cache" + @echo "... direct_control" + @echo "... rebuild_cache" + @echo "... __/__/unitree_legged_sdk-3.2/examples/lcm_server.o" + @echo "... __/__/unitree_legged_sdk-3.2/examples/lcm_server.i" + @echo "... __/__/unitree_legged_sdk-3.2/examples/lcm_server.s" + @echo "... src/exe/direct_control.o" + @echo "... src/exe/direct_control.i" + @echo "... src/exe/direct_control.s" + @echo "... src/exe/position_mode.o" + @echo "... src/exe/position_mode.i" + @echo "... src/exe/position_mode.s" + @echo "... src/exe/torque_mode.o" + @echo "... src/exe/torque_mode.i" + @echo "... src/exe/torque_mode.s" + @echo "... src/exe/velocity_mode.o" + @echo "... src/exe/velocity_mode.i" + @echo "... src/exe/velocity_mode.s" + @echo "... src/exe/walk_mode.o" + @echo "... src/exe/walk_mode.i" + @echo "... src/exe/walk_mode.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/chinhan/Joint_Rescue_development/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_real.pc b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_real.pc new file mode 100644 index 00000000..0e95b664 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_real.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/install + +Name: unitree_legged_real +Description: Description of unitree_legged_real +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig-version.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig.cmake new file mode 100644 index 00000000..88235b1b --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(unitree_legged_real_CONFIG_INCLUDED) + return() +endif() +set(unitree_legged_real_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(unitree_legged_real_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_real) + set(unitree_legged_real_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(unitree_legged_real_INSTALL_PREFIX "") + set(unitree_legged_real_PREFIX ${unitree_legged_real_DEVEL_PREFIX}) +else() + set(unitree_legged_real_SOURCE_PREFIX "") + set(unitree_legged_real_DEVEL_PREFIX "") + set(unitree_legged_real_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(unitree_legged_real_PREFIX ${unitree_legged_real_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'unitree_legged_real' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(unitree_legged_real_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(unitree_legged_real_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'unitree ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${unitree_legged_real_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'unitree_legged_real' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'unitree_legged_real' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(unitree_legged_real_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND unitree_legged_real_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND unitree_legged_real_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT unitree_legged_real_NUM_DUMMY_TARGETS) + set(unitree_legged_real_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::unitree_legged_real::wrapped-linker-option${unitree_legged_real_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR unitree_legged_real_NUM_DUMMY_TARGETS "${unitree_legged_real_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::unitree_legged_real::wrapped-linker-option${unitree_legged_real_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND unitree_legged_real_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND unitree_legged_real_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND unitree_legged_real_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/install/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(unitree_legged_real_LIBRARY_DIRS ${lib_path}) + list(APPEND unitree_legged_real_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'unitree_legged_real'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND unitree_legged_real_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(unitree_legged_real_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${unitree_legged_real_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 unitree_legged_real_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${unitree_legged_real_dep}_FOUND) + find_package(${unitree_legged_real_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${unitree_legged_real_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(unitree_legged_real_INCLUDE_DIRS ${${unitree_legged_real_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(unitree_legged_real_LIBRARIES ${unitree_legged_real_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${unitree_legged_real_dep}_LIBRARIES}) + _list_append_deduplicate(unitree_legged_real_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(unitree_legged_real_LIBRARIES ${unitree_legged_real_LIBRARIES}) + + _list_append_unique(unitree_legged_real_LIBRARY_DIRS ${${unitree_legged_real_dep}_LIBRARY_DIRS}) + list(APPEND unitree_legged_real_EXPORTED_TARGETS ${${unitree_legged_real_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${unitree_legged_real_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/ordered_paths.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/ordered_paths.cmake new file mode 100644 index 00000000..afa3bade --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/kinetic/lib") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/package.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/package.cmake new file mode 100644 index 00000000..9e7b75f3 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "unitree_legged_real") +set(unitree_legged_real_VERSION "0.0.0") +set(unitree_legged_real_MAINTAINER "unitree ") +set(unitree_legged_real_PACKAGE_FORMAT "2") +set(unitree_legged_real_BUILD_DEPENDS "roscpp" "std_msgs" "unitree_legged_msgs" "eigen") +set(unitree_legged_real_BUILD_EXPORT_DEPENDS "roscpp" "std_msgs" "unitree_legged_msgs" "eigen") +set(unitree_legged_real_BUILDTOOL_DEPENDS "catkin") +set(unitree_legged_real_BUILDTOOL_EXPORT_DEPENDS ) +set(unitree_legged_real_EXEC_DEPENDS "roscpp" "std_msgs" "unitree_legged_msgs" "eigen") +set(unitree_legged_real_RUN_DEPENDS "roscpp" "std_msgs" "unitree_legged_msgs" "eigen") +set(unitree_legged_real_TEST_DEPENDS ) +set(unitree_legged_real_DOC_DEPENDS ) +set(unitree_legged_real_URL_WEBSITE "") +set(unitree_legged_real_URL_BUGTRACKER "") +set(unitree_legged_real_URL_REPOSITORY "") +set(unitree_legged_real_DEPRECATED "") \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/pkg.develspace.context.pc.py b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 00000000..6829cbf0 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "unitree_legged_real" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/devel" +PROJECT_VERSION = "0.0.0" diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/pkg.installspace.context.pc.py b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 00000000..1bfbb053 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "unitree_legged_real" +PROJECT_SPACE_DIR = "/home/chinhan/Joint_Rescue_development/install" +PROJECT_VERSION = "0.0.0" diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/stamps/unitree_legged_real/package.xml.stamp b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/stamps/unitree_legged_real/package.xml.stamp new file mode 100644 index 00000000..68c09e5c --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/stamps/unitree_legged_real/package.xml.stamp @@ -0,0 +1,20 @@ + + + unitree_legged_real + 0.0.0 + The unitree_legged_real package + + unitree + TODO + + catkin + roscpp + std_msgs + roscpp + std_msgs + roscpp + std_msgs + unitree_legged_msgs + eigen + + \ No newline at end of file diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/stamps/unitree_legged_real/pkg.pc.em.stamp b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/stamps/unitree_legged_real/pkg.pc.em.stamp new file mode 100644 index 00000000..549fb75c --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/stamps/unitree_legged_real/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/cmake_install.cmake b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/cmake_install.cmake new file mode 100644 index 00000000..bb33b0a7 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_real + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/chinhan/Joint_Rescue_development/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Debug") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_real.pc") +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/unitree_legged_real/cmake" TYPE FILE FILES + "/home/chinhan/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig.cmake" + "/home/chinhan/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/catkin_generated/installspace/unitree_legged_realConfig-version.cmake" + ) +endif() + +if(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/unitree_legged_real" TYPE FILE FILES "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_real/package.xml") +endif() + diff --git a/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/unitree_legged_real.cbp b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/unitree_legged_real.cbp new file mode 100644 index 00000000..7a916233 --- /dev/null +++ b/src/Joint_Rescue_development/build/unitree_ros_to_real-3.2.1/unitree_legged_real/unitree_legged_real.cbp @@ -0,0 +1,3736 @@ + + + + + + diff --git a/src/Joint_Rescue_development/devel/.built_by b/src/Joint_Rescue_development/devel/.built_by new file mode 100644 index 00000000..2e212dd3 --- /dev/null +++ b/src/Joint_Rescue_development/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/.catkin b/src/Joint_Rescue_development/devel/.catkin new file mode 100644 index 00000000..b7609e57 --- /dev/null +++ b/src/Joint_Rescue_development/devel/.catkin @@ -0,0 +1 @@ +/home/chinhan/Joint_Rescue_development/src \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/.rosinstall b/src/Joint_Rescue_development/devel/.rosinstall new file mode 100644 index 00000000..bc8f790a --- /dev/null +++ b/src/Joint_Rescue_development/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/chinhan/Joint_Rescue_development/devel/setup.sh diff --git a/src/Joint_Rescue_development/devel/_setup_util.py b/src/Joint_Rescue_development/devel/_setup_util.py new file mode 100644 index 00000000..3f4e5a68 --- /dev/null +++ b/src/Joint_Rescue_development/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/home/chinhan/Joint_Rescue_development/devel;/opt/ros/kinetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/src/Joint_Rescue_development/devel/cmake.lock b/src/Joint_Rescue_development/devel/cmake.lock new file mode 100644 index 00000000..e69de29b diff --git a/src/Joint_Rescue_development/devel/env.sh b/src/Joint_Rescue_development/devel/env.sh new file mode 100644 index 00000000..8aa9d244 --- /dev/null +++ b/src/Joint_Rescue_development/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/Cartesian.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/Cartesian.h new file mode 100644 index 00000000..516e6a80 --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/Cartesian.h @@ -0,0 +1,205 @@ +// Generated by gencpp from file unitree_legged_msgs/Cartesian.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_CARTESIAN_H +#define UNITREE_LEGGED_MSGS_MESSAGE_CARTESIAN_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace unitree_legged_msgs +{ +template +struct Cartesian_ +{ + typedef Cartesian_ Type; + + Cartesian_() + : x(0.0) + , y(0.0) + , z(0.0) { + } + Cartesian_(const ContainerAllocator& _alloc) + : x(0.0) + , y(0.0) + , z(0.0) { + (void)_alloc; + } + + + + typedef float _x_type; + _x_type x; + + typedef float _y_type; + _y_type y; + + typedef float _z_type; + _z_type z; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian_ const> ConstPtr; + +}; // struct Cartesian_ + +typedef ::unitree_legged_msgs::Cartesian_ > Cartesian; + +typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian > CartesianPtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::Cartesian const> CartesianConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::Cartesian_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::Cartesian_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::Cartesian_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::Cartesian_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::Cartesian_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::Cartesian_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::Cartesian_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::Cartesian_ > +{ + static const char* value() + { + return "cc153912f1453b708d221682bc23d9ac"; + } + + static const char* value(const ::unitree_legged_msgs::Cartesian_&) { return value(); } + static const uint64_t static_value1 = 0xcc153912f1453b70ULL; + static const uint64_t static_value2 = 0x8d221682bc23d9acULL; +}; + +template +struct DataType< ::unitree_legged_msgs::Cartesian_ > +{ + static const char* value() + { + return "unitree_legged_msgs/Cartesian"; + } + + static const char* value(const ::unitree_legged_msgs::Cartesian_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::Cartesian_ > +{ + static const char* value() + { + return "float32 x\n\ +float32 y\n\ +float32 z\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::Cartesian_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::Cartesian_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.x); + stream.next(m.y); + stream.next(m.z); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct Cartesian_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::Cartesian_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::Cartesian_& v) + { + s << indent << "x: "; + Printer::stream(s, indent + " ", v.x); + s << indent << "y: "; + Printer::stream(s, indent + " ", v.y); + s << indent << "z: "; + Printer::stream(s, indent + " ", v.z); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_CARTESIAN_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/HighCmd.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/HighCmd.h new file mode 100644 index 00000000..1f49e0d6 --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/HighCmd.h @@ -0,0 +1,377 @@ +// Generated by gencpp from file unitree_legged_msgs/HighCmd.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H +#define UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include + +namespace unitree_legged_msgs +{ +template +struct HighCmd_ +{ + typedef HighCmd_ Type; + + HighCmd_() + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , mode(0) + , forwardSpeed(0.0) + , sideSpeed(0.0) + , rotateSpeed(0.0) + , bodyHeight(0.0) + , footRaiseHeight(0.0) + , yaw(0.0) + , pitch(0.0) + , roll(0.0) + , led() + , wirelessRemote() + , AppRemote() + , reserve(0) + , crc(0) { + wirelessRemote.assign(0); + + AppRemote.assign(0); + } + HighCmd_(const ContainerAllocator& _alloc) + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , mode(0) + , forwardSpeed(0.0) + , sideSpeed(0.0) + , rotateSpeed(0.0) + , bodyHeight(0.0) + , footRaiseHeight(0.0) + , yaw(0.0) + , pitch(0.0) + , roll(0.0) + , led() + , wirelessRemote() + , AppRemote() + , reserve(0) + , crc(0) { + (void)_alloc; + led.assign( ::unitree_legged_msgs::LED_ (_alloc)); + + wirelessRemote.assign(0); + + AppRemote.assign(0); + } + + + + typedef uint8_t _levelFlag_type; + _levelFlag_type levelFlag; + + typedef uint16_t _commVersion_type; + _commVersion_type commVersion; + + typedef uint16_t _robotID_type; + _robotID_type robotID; + + typedef uint32_t _SN_type; + _SN_type SN; + + typedef uint8_t _bandWidth_type; + _bandWidth_type bandWidth; + + typedef uint8_t _mode_type; + _mode_type mode; + + typedef float _forwardSpeed_type; + _forwardSpeed_type forwardSpeed; + + typedef float _sideSpeed_type; + _sideSpeed_type sideSpeed; + + typedef float _rotateSpeed_type; + _rotateSpeed_type rotateSpeed; + + typedef float _bodyHeight_type; + _bodyHeight_type bodyHeight; + + typedef float _footRaiseHeight_type; + _footRaiseHeight_type footRaiseHeight; + + typedef float _yaw_type; + _yaw_type yaw; + + typedef float _pitch_type; + _pitch_type pitch; + + typedef float _roll_type; + _roll_type roll; + + typedef boost::array< ::unitree_legged_msgs::LED_ , 4> _led_type; + _led_type led; + + typedef boost::array _wirelessRemote_type; + _wirelessRemote_type wirelessRemote; + + typedef boost::array _AppRemote_type; + _AppRemote_type AppRemote; + + typedef uint32_t _reserve_type; + _reserve_type reserve; + + typedef int32_t _crc_type; + _crc_type crc; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd_ const> ConstPtr; + +}; // struct HighCmd_ + +typedef ::unitree_legged_msgs::HighCmd_ > HighCmd; + +typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd > HighCmdPtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::HighCmd const> HighCmdConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::HighCmd_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::HighCmd_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::HighCmd_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::HighCmd_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::HighCmd_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::HighCmd_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::HighCmd_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::HighCmd_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::HighCmd_ > +{ + static const char* value() + { + return "1a655499a3f64905db59ceed65ca774a"; + } + + static const char* value(const ::unitree_legged_msgs::HighCmd_&) { return value(); } + static const uint64_t static_value1 = 0x1a655499a3f64905ULL; + static const uint64_t static_value2 = 0xdb59ceed65ca774aULL; +}; + +template +struct DataType< ::unitree_legged_msgs::HighCmd_ > +{ + static const char* value() + { + return "unitree_legged_msgs/HighCmd"; + } + + static const char* value(const ::unitree_legged_msgs::HighCmd_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::HighCmd_ > +{ + static const char* value() + { + return "uint8 levelFlag\n\ +uint16 commVersion # Old version Aliengo does not have\n\ +uint16 robotID # Old version Aliengo does not have\n\ +uint32 SN # Old version Aliengo does not have\n\ +uint8 bandWidth # Old version Aliengo does not have\n\ +uint8 mode\n\ +float32 forwardSpeed\n\ +float32 sideSpeed\n\ +float32 rotateSpeed \n\ +float32 bodyHeight\n\ +float32 footRaiseHeight\n\ +float32 yaw\n\ +float32 pitch\n\ +float32 roll\n\ +LED[4] led\n\ +uint8[40] wirelessRemote\n\ +uint8[40] AppRemote # Old version Aliengo does not have\n\ +uint32 reserve # Old version Aliengo does not have\n\ +int32 crc\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/LED\n\ +uint8 r\n\ +uint8 g\n\ +uint8 b\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::HighCmd_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::HighCmd_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.levelFlag); + stream.next(m.commVersion); + stream.next(m.robotID); + stream.next(m.SN); + stream.next(m.bandWidth); + stream.next(m.mode); + stream.next(m.forwardSpeed); + stream.next(m.sideSpeed); + stream.next(m.rotateSpeed); + stream.next(m.bodyHeight); + stream.next(m.footRaiseHeight); + stream.next(m.yaw); + stream.next(m.pitch); + stream.next(m.roll); + stream.next(m.led); + stream.next(m.wirelessRemote); + stream.next(m.AppRemote); + stream.next(m.reserve); + stream.next(m.crc); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct HighCmd_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::HighCmd_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::HighCmd_& v) + { + s << indent << "levelFlag: "; + Printer::stream(s, indent + " ", v.levelFlag); + s << indent << "commVersion: "; + Printer::stream(s, indent + " ", v.commVersion); + s << indent << "robotID: "; + Printer::stream(s, indent + " ", v.robotID); + s << indent << "SN: "; + Printer::stream(s, indent + " ", v.SN); + s << indent << "bandWidth: "; + Printer::stream(s, indent + " ", v.bandWidth); + s << indent << "mode: "; + Printer::stream(s, indent + " ", v.mode); + s << indent << "forwardSpeed: "; + Printer::stream(s, indent + " ", v.forwardSpeed); + s << indent << "sideSpeed: "; + Printer::stream(s, indent + " ", v.sideSpeed); + s << indent << "rotateSpeed: "; + Printer::stream(s, indent + " ", v.rotateSpeed); + s << indent << "bodyHeight: "; + Printer::stream(s, indent + " ", v.bodyHeight); + s << indent << "footRaiseHeight: "; + Printer::stream(s, indent + " ", v.footRaiseHeight); + s << indent << "yaw: "; + Printer::stream(s, indent + " ", v.yaw); + s << indent << "pitch: "; + Printer::stream(s, indent + " ", v.pitch); + s << indent << "roll: "; + Printer::stream(s, indent + " ", v.roll); + s << indent << "led[]" << std::endl; + for (size_t i = 0; i < v.led.size(); ++i) + { + s << indent << " led[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::LED_ >::stream(s, indent + " ", v.led[i]); + } + s << indent << "wirelessRemote[]" << std::endl; + for (size_t i = 0; i < v.wirelessRemote.size(); ++i) + { + s << indent << " wirelessRemote[" << i << "]: "; + Printer::stream(s, indent + " ", v.wirelessRemote[i]); + } + s << indent << "AppRemote[]" << std::endl; + for (size_t i = 0; i < v.AppRemote.size(); ++i) + { + s << indent << " AppRemote[" << i << "]: "; + Printer::stream(s, indent + " ", v.AppRemote[i]); + } + s << indent << "reserve: "; + Printer::stream(s, indent + " ", v.reserve); + s << indent << "crc: "; + Printer::stream(s, indent + " ", v.crc); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_HIGHCMD_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/HighState.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/HighState.h new file mode 100644 index 00000000..11f20ed6 --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/HighState.h @@ -0,0 +1,466 @@ +// Generated by gencpp from file unitree_legged_msgs/HighState.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_HIGHSTATE_H +#define UNITREE_LEGGED_MSGS_MESSAGE_HIGHSTATE_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace unitree_legged_msgs +{ +template +struct HighState_ +{ + typedef HighState_ Type; + + HighState_() + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , mode(0) + , imu() + , forwardSpeed(0.0) + , sideSpeed(0.0) + , rotateSpeed(0.0) + , bodyHeight(0.0) + , updownSpeed(0.0) + , forwardPosition(0.0) + , sidePosition(0.0) + , footPosition2Body() + , footSpeed2Body() + , footForce() + , footForceEst() + , tick(0) + , wirelessRemote() + , reserve(0) + , crc(0) + , eeForce() + , jointP() { + footForce.assign(0); + + footForceEst.assign(0); + + wirelessRemote.assign(0); + + jointP.assign(0.0); + } + HighState_(const ContainerAllocator& _alloc) + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , mode(0) + , imu(_alloc) + , forwardSpeed(0.0) + , sideSpeed(0.0) + , rotateSpeed(0.0) + , bodyHeight(0.0) + , updownSpeed(0.0) + , forwardPosition(0.0) + , sidePosition(0.0) + , footPosition2Body() + , footSpeed2Body() + , footForce() + , footForceEst() + , tick(0) + , wirelessRemote() + , reserve(0) + , crc(0) + , eeForce() + , jointP() { + (void)_alloc; + footPosition2Body.assign( ::unitree_legged_msgs::Cartesian_ (_alloc)); + + footSpeed2Body.assign( ::unitree_legged_msgs::Cartesian_ (_alloc)); + + footForce.assign(0); + + footForceEst.assign(0); + + wirelessRemote.assign(0); + + eeForce.assign( ::unitree_legged_msgs::Cartesian_ (_alloc)); + + jointP.assign(0.0); + } + + + + typedef uint8_t _levelFlag_type; + _levelFlag_type levelFlag; + + typedef uint16_t _commVersion_type; + _commVersion_type commVersion; + + typedef uint16_t _robotID_type; + _robotID_type robotID; + + typedef uint32_t _SN_type; + _SN_type SN; + + typedef uint8_t _bandWidth_type; + _bandWidth_type bandWidth; + + typedef uint8_t _mode_type; + _mode_type mode; + + typedef ::unitree_legged_msgs::IMU_ _imu_type; + _imu_type imu; + + typedef float _forwardSpeed_type; + _forwardSpeed_type forwardSpeed; + + typedef float _sideSpeed_type; + _sideSpeed_type sideSpeed; + + typedef float _rotateSpeed_type; + _rotateSpeed_type rotateSpeed; + + typedef float _bodyHeight_type; + _bodyHeight_type bodyHeight; + + typedef float _updownSpeed_type; + _updownSpeed_type updownSpeed; + + typedef float _forwardPosition_type; + _forwardPosition_type forwardPosition; + + typedef float _sidePosition_type; + _sidePosition_type sidePosition; + + typedef boost::array< ::unitree_legged_msgs::Cartesian_ , 4> _footPosition2Body_type; + _footPosition2Body_type footPosition2Body; + + typedef boost::array< ::unitree_legged_msgs::Cartesian_ , 4> _footSpeed2Body_type; + _footSpeed2Body_type footSpeed2Body; + + typedef boost::array _footForce_type; + _footForce_type footForce; + + typedef boost::array _footForceEst_type; + _footForceEst_type footForceEst; + + typedef uint32_t _tick_type; + _tick_type tick; + + typedef boost::array _wirelessRemote_type; + _wirelessRemote_type wirelessRemote; + + typedef uint32_t _reserve_type; + _reserve_type reserve; + + typedef uint32_t _crc_type; + _crc_type crc; + + typedef boost::array< ::unitree_legged_msgs::Cartesian_ , 4> _eeForce_type; + _eeForce_type eeForce; + + typedef boost::array _jointP_type; + _jointP_type jointP; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::HighState_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::HighState_ const> ConstPtr; + +}; // struct HighState_ + +typedef ::unitree_legged_msgs::HighState_ > HighState; + +typedef boost::shared_ptr< ::unitree_legged_msgs::HighState > HighStatePtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::HighState const> HighStateConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::HighState_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::HighState_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::HighState_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::HighState_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::HighState_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::HighState_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::HighState_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::HighState_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::HighState_ > +{ + static const char* value() + { + return "a12e8b22df896c82203810ec6d521dad"; + } + + static const char* value(const ::unitree_legged_msgs::HighState_&) { return value(); } + static const uint64_t static_value1 = 0xa12e8b22df896c82ULL; + static const uint64_t static_value2 = 0x203810ec6d521dadULL; +}; + +template +struct DataType< ::unitree_legged_msgs::HighState_ > +{ + static const char* value() + { + return "unitree_legged_msgs/HighState"; + } + + static const char* value(const ::unitree_legged_msgs::HighState_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::HighState_ > +{ + static const char* value() + { + return "uint8 levelFlag\n\ +uint16 commVersion # Old version Aliengo does not have\n\ +uint16 robotID # Old version Aliengo does not have\n\ +uint32 SN # Old version Aliengo does not have\n\ +uint8 bandWidth # Old version Aliengo does not have\n\ +uint8 mode\n\ +IMU imu\n\ +float32 forwardSpeed\n\ +float32 sideSpeed\n\ +float32 rotateSpeed\n\ +float32 bodyHeight\n\ +float32 updownSpeed\n\ +float32 forwardPosition # (will be float type next version) # Old version Aliengo is different\n\ +float32 sidePosition # (will be float type next version) # Old version Aliengo is different\n\ +Cartesian[4] footPosition2Body\n\ +Cartesian[4] footSpeed2Body\n\ +int16[4] footForce # Old version Aliengo is different\n\ +int16[4] footForceEst # Old version Aliengo does not have\n\ +uint32 tick \n\ +uint8[40] wirelessRemote\n\ +uint32 reserve # Old version Aliengo does not have\n\ +uint32 crc\n\ +\n\ +# Under are not defined in SDK yet. # Old version Aliengo does not have\n\ +Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.\n\ +float32[12] jointP # for visualization\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/IMU\n\ +float32[4] quaternion\n\ +float32[3] gyroscope\n\ +float32[3] accelerometer\n\ +int8 temperature\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/Cartesian\n\ +float32 x\n\ +float32 y\n\ +float32 z\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::HighState_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::HighState_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.levelFlag); + stream.next(m.commVersion); + stream.next(m.robotID); + stream.next(m.SN); + stream.next(m.bandWidth); + stream.next(m.mode); + stream.next(m.imu); + stream.next(m.forwardSpeed); + stream.next(m.sideSpeed); + stream.next(m.rotateSpeed); + stream.next(m.bodyHeight); + stream.next(m.updownSpeed); + stream.next(m.forwardPosition); + stream.next(m.sidePosition); + stream.next(m.footPosition2Body); + stream.next(m.footSpeed2Body); + stream.next(m.footForce); + stream.next(m.footForceEst); + stream.next(m.tick); + stream.next(m.wirelessRemote); + stream.next(m.reserve); + stream.next(m.crc); + stream.next(m.eeForce); + stream.next(m.jointP); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct HighState_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::HighState_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::HighState_& v) + { + s << indent << "levelFlag: "; + Printer::stream(s, indent + " ", v.levelFlag); + s << indent << "commVersion: "; + Printer::stream(s, indent + " ", v.commVersion); + s << indent << "robotID: "; + Printer::stream(s, indent + " ", v.robotID); + s << indent << "SN: "; + Printer::stream(s, indent + " ", v.SN); + s << indent << "bandWidth: "; + Printer::stream(s, indent + " ", v.bandWidth); + s << indent << "mode: "; + Printer::stream(s, indent + " ", v.mode); + s << indent << "imu: "; + s << std::endl; + Printer< ::unitree_legged_msgs::IMU_ >::stream(s, indent + " ", v.imu); + s << indent << "forwardSpeed: "; + Printer::stream(s, indent + " ", v.forwardSpeed); + s << indent << "sideSpeed: "; + Printer::stream(s, indent + " ", v.sideSpeed); + s << indent << "rotateSpeed: "; + Printer::stream(s, indent + " ", v.rotateSpeed); + s << indent << "bodyHeight: "; + Printer::stream(s, indent + " ", v.bodyHeight); + s << indent << "updownSpeed: "; + Printer::stream(s, indent + " ", v.updownSpeed); + s << indent << "forwardPosition: "; + Printer::stream(s, indent + " ", v.forwardPosition); + s << indent << "sidePosition: "; + Printer::stream(s, indent + " ", v.sidePosition); + s << indent << "footPosition2Body[]" << std::endl; + for (size_t i = 0; i < v.footPosition2Body.size(); ++i) + { + s << indent << " footPosition2Body[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.footPosition2Body[i]); + } + s << indent << "footSpeed2Body[]" << std::endl; + for (size_t i = 0; i < v.footSpeed2Body.size(); ++i) + { + s << indent << " footSpeed2Body[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.footSpeed2Body[i]); + } + s << indent << "footForce[]" << std::endl; + for (size_t i = 0; i < v.footForce.size(); ++i) + { + s << indent << " footForce[" << i << "]: "; + Printer::stream(s, indent + " ", v.footForce[i]); + } + s << indent << "footForceEst[]" << std::endl; + for (size_t i = 0; i < v.footForceEst.size(); ++i) + { + s << indent << " footForceEst[" << i << "]: "; + Printer::stream(s, indent + " ", v.footForceEst[i]); + } + s << indent << "tick: "; + Printer::stream(s, indent + " ", v.tick); + s << indent << "wirelessRemote[]" << std::endl; + for (size_t i = 0; i < v.wirelessRemote.size(); ++i) + { + s << indent << " wirelessRemote[" << i << "]: "; + Printer::stream(s, indent + " ", v.wirelessRemote[i]); + } + s << indent << "reserve: "; + Printer::stream(s, indent + " ", v.reserve); + s << indent << "crc: "; + Printer::stream(s, indent + " ", v.crc); + s << indent << "eeForce[]" << std::endl; + for (size_t i = 0; i < v.eeForce.size(); ++i) + { + s << indent << " eeForce[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.eeForce[i]); + } + s << indent << "jointP[]" << std::endl; + for (size_t i = 0; i < v.jointP.size(); ++i) + { + s << indent << " jointP[" << i << "]: "; + Printer::stream(s, indent + " ", v.jointP[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_HIGHSTATE_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/IMU.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/IMU.h new file mode 100644 index 00000000..065fd866 --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/IMU.h @@ -0,0 +1,236 @@ +// Generated by gencpp from file unitree_legged_msgs/IMU.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_IMU_H +#define UNITREE_LEGGED_MSGS_MESSAGE_IMU_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace unitree_legged_msgs +{ +template +struct IMU_ +{ + typedef IMU_ Type; + + IMU_() + : quaternion() + , gyroscope() + , accelerometer() + , temperature(0) { + quaternion.assign(0.0); + + gyroscope.assign(0.0); + + accelerometer.assign(0.0); + } + IMU_(const ContainerAllocator& _alloc) + : quaternion() + , gyroscope() + , accelerometer() + , temperature(0) { + (void)_alloc; + quaternion.assign(0.0); + + gyroscope.assign(0.0); + + accelerometer.assign(0.0); + } + + + + typedef boost::array _quaternion_type; + _quaternion_type quaternion; + + typedef boost::array _gyroscope_type; + _gyroscope_type gyroscope; + + typedef boost::array _accelerometer_type; + _accelerometer_type accelerometer; + + typedef int8_t _temperature_type; + _temperature_type temperature; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::IMU_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::IMU_ const> ConstPtr; + +}; // struct IMU_ + +typedef ::unitree_legged_msgs::IMU_ > IMU; + +typedef boost::shared_ptr< ::unitree_legged_msgs::IMU > IMUPtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::IMU const> IMUConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::IMU_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::IMU_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::IMU_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::IMU_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::IMU_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::IMU_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::IMU_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::IMU_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::IMU_ > +{ + static const char* value() + { + return "dd4bb4e42aa2f15aa1fb1b6a3c3752cb"; + } + + static const char* value(const ::unitree_legged_msgs::IMU_&) { return value(); } + static const uint64_t static_value1 = 0xdd4bb4e42aa2f15aULL; + static const uint64_t static_value2 = 0xa1fb1b6a3c3752cbULL; +}; + +template +struct DataType< ::unitree_legged_msgs::IMU_ > +{ + static const char* value() + { + return "unitree_legged_msgs/IMU"; + } + + static const char* value(const ::unitree_legged_msgs::IMU_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::IMU_ > +{ + static const char* value() + { + return "float32[4] quaternion\n\ +float32[3] gyroscope\n\ +float32[3] accelerometer\n\ +int8 temperature\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::IMU_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::IMU_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.quaternion); + stream.next(m.gyroscope); + stream.next(m.accelerometer); + stream.next(m.temperature); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct IMU_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::IMU_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::IMU_& v) + { + s << indent << "quaternion[]" << std::endl; + for (size_t i = 0; i < v.quaternion.size(); ++i) + { + s << indent << " quaternion[" << i << "]: "; + Printer::stream(s, indent + " ", v.quaternion[i]); + } + s << indent << "gyroscope[]" << std::endl; + for (size_t i = 0; i < v.gyroscope.size(); ++i) + { + s << indent << " gyroscope[" << i << "]: "; + Printer::stream(s, indent + " ", v.gyroscope[i]); + } + s << indent << "accelerometer[]" << std::endl; + for (size_t i = 0; i < v.accelerometer.size(); ++i) + { + s << indent << " accelerometer[" << i << "]: "; + Printer::stream(s, indent + " ", v.accelerometer[i]); + } + s << indent << "temperature: "; + Printer::stream(s, indent + " ", v.temperature); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_IMU_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LED.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LED.h new file mode 100644 index 00000000..985ed90e --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LED.h @@ -0,0 +1,205 @@ +// Generated by gencpp from file unitree_legged_msgs/LED.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LED_H +#define UNITREE_LEGGED_MSGS_MESSAGE_LED_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace unitree_legged_msgs +{ +template +struct LED_ +{ + typedef LED_ Type; + + LED_() + : r(0) + , g(0) + , b(0) { + } + LED_(const ContainerAllocator& _alloc) + : r(0) + , g(0) + , b(0) { + (void)_alloc; + } + + + + typedef uint8_t _r_type; + _r_type r; + + typedef uint8_t _g_type; + _g_type g; + + typedef uint8_t _b_type; + _b_type b; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::LED_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::LED_ const> ConstPtr; + +}; // struct LED_ + +typedef ::unitree_legged_msgs::LED_ > LED; + +typedef boost::shared_ptr< ::unitree_legged_msgs::LED > LEDPtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::LED const> LEDConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::LED_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::LED_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::LED_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::LED_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::LED_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::LED_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::LED_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::LED_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::LED_ > +{ + static const char* value() + { + return "353891e354491c51aabe32df673fb446"; + } + + static const char* value(const ::unitree_legged_msgs::LED_&) { return value(); } + static const uint64_t static_value1 = 0x353891e354491c51ULL; + static const uint64_t static_value2 = 0xaabe32df673fb446ULL; +}; + +template +struct DataType< ::unitree_legged_msgs::LED_ > +{ + static const char* value() + { + return "unitree_legged_msgs/LED"; + } + + static const char* value(const ::unitree_legged_msgs::LED_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::LED_ > +{ + static const char* value() + { + return "uint8 r\n\ +uint8 g\n\ +uint8 b\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::LED_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::LED_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.r); + stream.next(m.g); + stream.next(m.b); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct LED_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::LED_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::LED_& v) + { + s << indent << "r: "; + Printer::stream(s, indent + " ", v.r); + s << indent << "g: "; + Printer::stream(s, indent + " ", v.g); + s << indent << "b: "; + Printer::stream(s, indent + " ", v.b); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_LED_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LowCmd.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LowCmd.h new file mode 100644 index 00000000..cf68ddc3 --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LowCmd.h @@ -0,0 +1,330 @@ +// Generated by gencpp from file unitree_legged_msgs/LowCmd.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LOWCMD_H +#define UNITREE_LEGGED_MSGS_MESSAGE_LOWCMD_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace unitree_legged_msgs +{ +template +struct LowCmd_ +{ + typedef LowCmd_ Type; + + LowCmd_() + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , motorCmd() + , led() + , wirelessRemote() + , reserve(0) + , crc(0) + , ff() { + wirelessRemote.assign(0); + } + LowCmd_(const ContainerAllocator& _alloc) + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , motorCmd() + , led() + , wirelessRemote() + , reserve(0) + , crc(0) + , ff() { + (void)_alloc; + motorCmd.assign( ::unitree_legged_msgs::MotorCmd_ (_alloc)); + + led.assign( ::unitree_legged_msgs::LED_ (_alloc)); + + wirelessRemote.assign(0); + + ff.assign( ::unitree_legged_msgs::Cartesian_ (_alloc)); + } + + + + typedef uint8_t _levelFlag_type; + _levelFlag_type levelFlag; + + typedef uint16_t _commVersion_type; + _commVersion_type commVersion; + + typedef uint16_t _robotID_type; + _robotID_type robotID; + + typedef uint32_t _SN_type; + _SN_type SN; + + typedef uint8_t _bandWidth_type; + _bandWidth_type bandWidth; + + typedef boost::array< ::unitree_legged_msgs::MotorCmd_ , 20> _motorCmd_type; + _motorCmd_type motorCmd; + + typedef boost::array< ::unitree_legged_msgs::LED_ , 4> _led_type; + _led_type led; + + typedef boost::array _wirelessRemote_type; + _wirelessRemote_type wirelessRemote; + + typedef uint32_t _reserve_type; + _reserve_type reserve; + + typedef uint32_t _crc_type; + _crc_type crc; + + typedef boost::array< ::unitree_legged_msgs::Cartesian_ , 4> _ff_type; + _ff_type ff; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd_ const> ConstPtr; + +}; // struct LowCmd_ + +typedef ::unitree_legged_msgs::LowCmd_ > LowCmd; + +typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd > LowCmdPtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::LowCmd const> LowCmdConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::LowCmd_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::LowCmd_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::LowCmd_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::LowCmd_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::LowCmd_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::LowCmd_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::LowCmd_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::LowCmd_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::LowCmd_ > +{ + static const char* value() + { + return "357432b2562edd0a8e89b9c9f5fc4821"; + } + + static const char* value(const ::unitree_legged_msgs::LowCmd_&) { return value(); } + static const uint64_t static_value1 = 0x357432b2562edd0aULL; + static const uint64_t static_value2 = 0x8e89b9c9f5fc4821ULL; +}; + +template +struct DataType< ::unitree_legged_msgs::LowCmd_ > +{ + static const char* value() + { + return "unitree_legged_msgs/LowCmd"; + } + + static const char* value(const ::unitree_legged_msgs::LowCmd_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::LowCmd_ > +{ + static const char* value() + { + return "uint8 levelFlag \n\ +uint16 commVersion # Old version Aliengo does not have\n\ +uint16 robotID # Old version Aliengo does not have\n\ +uint32 SN # Old version Aliengo does not have\n\ +uint8 bandWidth # Old version Aliengo does not have\n\ +MotorCmd[20] motorCmd\n\ +LED[4] led\n\ +uint8[40] wirelessRemote\n\ +uint32 reserve # Old version Aliengo does not have\n\ +uint32 crc\n\ +\n\ +Cartesian[4] ff # will delete # Old version Aliengo does not have\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/MotorCmd\n\ +uint8 mode # motor target mode\n\ +float32 q # motor target position\n\ +float32 dq # motor target velocity\n\ +float32 tau # motor target torque\n\ +float32 Kp # motor spring stiffness coefficient\n\ +float32 Kd # motor damper coefficient\n\ +uint32[3] reserve # motor target torque\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/LED\n\ +uint8 r\n\ +uint8 g\n\ +uint8 b\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/Cartesian\n\ +float32 x\n\ +float32 y\n\ +float32 z\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::LowCmd_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::LowCmd_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.levelFlag); + stream.next(m.commVersion); + stream.next(m.robotID); + stream.next(m.SN); + stream.next(m.bandWidth); + stream.next(m.motorCmd); + stream.next(m.led); + stream.next(m.wirelessRemote); + stream.next(m.reserve); + stream.next(m.crc); + stream.next(m.ff); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct LowCmd_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::LowCmd_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::LowCmd_& v) + { + s << indent << "levelFlag: "; + Printer::stream(s, indent + " ", v.levelFlag); + s << indent << "commVersion: "; + Printer::stream(s, indent + " ", v.commVersion); + s << indent << "robotID: "; + Printer::stream(s, indent + " ", v.robotID); + s << indent << "SN: "; + Printer::stream(s, indent + " ", v.SN); + s << indent << "bandWidth: "; + Printer::stream(s, indent + " ", v.bandWidth); + s << indent << "motorCmd[]" << std::endl; + for (size_t i = 0; i < v.motorCmd.size(); ++i) + { + s << indent << " motorCmd[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::MotorCmd_ >::stream(s, indent + " ", v.motorCmd[i]); + } + s << indent << "led[]" << std::endl; + for (size_t i = 0; i < v.led.size(); ++i) + { + s << indent << " led[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::LED_ >::stream(s, indent + " ", v.led[i]); + } + s << indent << "wirelessRemote[]" << std::endl; + for (size_t i = 0; i < v.wirelessRemote.size(); ++i) + { + s << indent << " wirelessRemote[" << i << "]: "; + Printer::stream(s, indent + " ", v.wirelessRemote[i]); + } + s << indent << "reserve: "; + Printer::stream(s, indent + " ", v.reserve); + s << indent << "crc: "; + Printer::stream(s, indent + " ", v.crc); + s << indent << "ff[]" << std::endl; + for (size_t i = 0; i < v.ff.size(); ++i) + { + s << indent << " ff[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.ff[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_LOWCMD_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LowState.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LowState.h new file mode 100644 index 00000000..173f1d63 --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/LowState.h @@ -0,0 +1,423 @@ +// Generated by gencpp from file unitree_legged_msgs/LowState.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H +#define UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace unitree_legged_msgs +{ +template +struct LowState_ +{ + typedef LowState_ Type; + + LowState_() + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , imu() + , motorState() + , footForce() + , footForceEst() + , tick(0) + , wirelessRemote() + , reserve(0) + , crc(0) + , eeForceRaw() + , eeForce() + , position() + , velocity() + , velocity_w() { + footForce.assign(0); + + footForceEst.assign(0); + + wirelessRemote.assign(0); + } + LowState_(const ContainerAllocator& _alloc) + : levelFlag(0) + , commVersion(0) + , robotID(0) + , SN(0) + , bandWidth(0) + , imu(_alloc) + , motorState() + , footForce() + , footForceEst() + , tick(0) + , wirelessRemote() + , reserve(0) + , crc(0) + , eeForceRaw() + , eeForce() + , position(_alloc) + , velocity(_alloc) + , velocity_w(_alloc) { + (void)_alloc; + motorState.assign( ::unitree_legged_msgs::MotorState_ (_alloc)); + + footForce.assign(0); + + footForceEst.assign(0); + + wirelessRemote.assign(0); + + eeForceRaw.assign( ::unitree_legged_msgs::Cartesian_ (_alloc)); + + eeForce.assign( ::unitree_legged_msgs::Cartesian_ (_alloc)); + } + + + + typedef uint8_t _levelFlag_type; + _levelFlag_type levelFlag; + + typedef uint16_t _commVersion_type; + _commVersion_type commVersion; + + typedef uint16_t _robotID_type; + _robotID_type robotID; + + typedef uint32_t _SN_type; + _SN_type SN; + + typedef uint8_t _bandWidth_type; + _bandWidth_type bandWidth; + + typedef ::unitree_legged_msgs::IMU_ _imu_type; + _imu_type imu; + + typedef boost::array< ::unitree_legged_msgs::MotorState_ , 20> _motorState_type; + _motorState_type motorState; + + typedef boost::array _footForce_type; + _footForce_type footForce; + + typedef boost::array _footForceEst_type; + _footForceEst_type footForceEst; + + typedef uint32_t _tick_type; + _tick_type tick; + + typedef boost::array _wirelessRemote_type; + _wirelessRemote_type wirelessRemote; + + typedef uint32_t _reserve_type; + _reserve_type reserve; + + typedef uint32_t _crc_type; + _crc_type crc; + + typedef boost::array< ::unitree_legged_msgs::Cartesian_ , 4> _eeForceRaw_type; + _eeForceRaw_type eeForceRaw; + + typedef boost::array< ::unitree_legged_msgs::Cartesian_ , 4> _eeForce_type; + _eeForce_type eeForce; + + typedef ::unitree_legged_msgs::Cartesian_ _position_type; + _position_type position; + + typedef ::unitree_legged_msgs::Cartesian_ _velocity_type; + _velocity_type velocity; + + typedef ::unitree_legged_msgs::Cartesian_ _velocity_w_type; + _velocity_w_type velocity_w; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::LowState_ const> ConstPtr; + +}; // struct LowState_ + +typedef ::unitree_legged_msgs::LowState_ > LowState; + +typedef boost::shared_ptr< ::unitree_legged_msgs::LowState > LowStatePtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::LowState const> LowStateConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::LowState_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::LowState_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::LowState_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::LowState_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::LowState_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::LowState_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::LowState_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::LowState_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::LowState_ > +{ + static const char* value() + { + return "cef9d4f6b5a89bd6330896affb1bca88"; + } + + static const char* value(const ::unitree_legged_msgs::LowState_&) { return value(); } + static const uint64_t static_value1 = 0xcef9d4f6b5a89bd6ULL; + static const uint64_t static_value2 = 0x330896affb1bca88ULL; +}; + +template +struct DataType< ::unitree_legged_msgs::LowState_ > +{ + static const char* value() + { + return "unitree_legged_msgs/LowState"; + } + + static const char* value(const ::unitree_legged_msgs::LowState_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::LowState_ > +{ + static const char* value() + { + return "uint8 levelFlag\n\ +uint16 commVersion # Old version Aliengo does not have\n\ +uint16 robotID # Old version Aliengo does not have\n\ +uint32 SN # Old version Aliengo does not have\n\ +uint8 bandWidth # Old version Aliengo does not have\n\ +IMU imu\n\ +MotorState[20] motorState\n\ +int16[4] footForce # force sensors # Old version Aliengo is different\n\ +int16[4] footForceEst # force sensors # Old version Aliengo does not have\n\ +uint32 tick # reference real-time from motion controller (unit: us)\n\ +uint8[40] wirelessRemote # wireless commands\n\ +uint32 reserve # Old version Aliengo does not have\n\ +uint32 crc\n\ +\n\ +# Old version Aliengo does not have:\n\ +Cartesian[4] eeForceRaw\n\ +Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization \n\ +Cartesian position # will delete\n\ +Cartesian velocity # will delete\n\ +Cartesian velocity_w # will delete\n\ +\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/IMU\n\ +float32[4] quaternion\n\ +float32[3] gyroscope\n\ +float32[3] accelerometer\n\ +int8 temperature\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/MotorState\n\ +uint8 mode # motor current mode \n\ +float32 q # motor current position（rad）\n\ +float32 dq # motor current speed（rad/s）\n\ +float32 ddq # motor current speed（rad/s）\n\ +float32 tauEst # current estimated output torque（N*m）\n\ +float32 q_raw # motor current position（rad）\n\ +float32 dq_raw # motor current speed（rad/s）\n\ +float32 ddq_raw # motor current speed（rad/s）\n\ +int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n\ +uint32[2] reserve\n\ +================================================================================\n\ +MSG: unitree_legged_msgs/Cartesian\n\ +float32 x\n\ +float32 y\n\ +float32 z\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::LowState_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::LowState_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.levelFlag); + stream.next(m.commVersion); + stream.next(m.robotID); + stream.next(m.SN); + stream.next(m.bandWidth); + stream.next(m.imu); + stream.next(m.motorState); + stream.next(m.footForce); + stream.next(m.footForceEst); + stream.next(m.tick); + stream.next(m.wirelessRemote); + stream.next(m.reserve); + stream.next(m.crc); + stream.next(m.eeForceRaw); + stream.next(m.eeForce); + stream.next(m.position); + stream.next(m.velocity); + stream.next(m.velocity_w); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct LowState_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::LowState_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::LowState_& v) + { + s << indent << "levelFlag: "; + Printer::stream(s, indent + " ", v.levelFlag); + s << indent << "commVersion: "; + Printer::stream(s, indent + " ", v.commVersion); + s << indent << "robotID: "; + Printer::stream(s, indent + " ", v.robotID); + s << indent << "SN: "; + Printer::stream(s, indent + " ", v.SN); + s << indent << "bandWidth: "; + Printer::stream(s, indent + " ", v.bandWidth); + s << indent << "imu: "; + s << std::endl; + Printer< ::unitree_legged_msgs::IMU_ >::stream(s, indent + " ", v.imu); + s << indent << "motorState[]" << std::endl; + for (size_t i = 0; i < v.motorState.size(); ++i) + { + s << indent << " motorState[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::MotorState_ >::stream(s, indent + " ", v.motorState[i]); + } + s << indent << "footForce[]" << std::endl; + for (size_t i = 0; i < v.footForce.size(); ++i) + { + s << indent << " footForce[" << i << "]: "; + Printer::stream(s, indent + " ", v.footForce[i]); + } + s << indent << "footForceEst[]" << std::endl; + for (size_t i = 0; i < v.footForceEst.size(); ++i) + { + s << indent << " footForceEst[" << i << "]: "; + Printer::stream(s, indent + " ", v.footForceEst[i]); + } + s << indent << "tick: "; + Printer::stream(s, indent + " ", v.tick); + s << indent << "wirelessRemote[]" << std::endl; + for (size_t i = 0; i < v.wirelessRemote.size(); ++i) + { + s << indent << " wirelessRemote[" << i << "]: "; + Printer::stream(s, indent + " ", v.wirelessRemote[i]); + } + s << indent << "reserve: "; + Printer::stream(s, indent + " ", v.reserve); + s << indent << "crc: "; + Printer::stream(s, indent + " ", v.crc); + s << indent << "eeForceRaw[]" << std::endl; + for (size_t i = 0; i < v.eeForceRaw.size(); ++i) + { + s << indent << " eeForceRaw[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.eeForceRaw[i]); + } + s << indent << "eeForce[]" << std::endl; + for (size_t i = 0; i < v.eeForce.size(); ++i) + { + s << indent << " eeForce[" << i << "]: "; + s << std::endl; + s << indent; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.eeForce[i]); + } + s << indent << "position: "; + s << std::endl; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.position); + s << indent << "velocity: "; + s << std::endl; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.velocity); + s << indent << "velocity_w: "; + s << std::endl; + Printer< ::unitree_legged_msgs::Cartesian_ >::stream(s, indent + " ", v.velocity_w); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_LOWSTATE_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/MotorCmd.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/MotorCmd.h new file mode 100644 index 00000000..cbc739a8 --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/MotorCmd.h @@ -0,0 +1,247 @@ +// Generated by gencpp from file unitree_legged_msgs/MotorCmd.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H +#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace unitree_legged_msgs +{ +template +struct MotorCmd_ +{ + typedef MotorCmd_ Type; + + MotorCmd_() + : mode(0) + , q(0.0) + , dq(0.0) + , tau(0.0) + , Kp(0.0) + , Kd(0.0) + , reserve() { + reserve.assign(0); + } + MotorCmd_(const ContainerAllocator& _alloc) + : mode(0) + , q(0.0) + , dq(0.0) + , tau(0.0) + , Kp(0.0) + , Kd(0.0) + , reserve() { + (void)_alloc; + reserve.assign(0); + } + + + + typedef uint8_t _mode_type; + _mode_type mode; + + typedef float _q_type; + _q_type q; + + typedef float _dq_type; + _dq_type dq; + + typedef float _tau_type; + _tau_type tau; + + typedef float _Kp_type; + _Kp_type Kp; + + typedef float _Kd_type; + _Kd_type Kd; + + typedef boost::array _reserve_type; + _reserve_type reserve; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_ const> ConstPtr; + +}; // struct MotorCmd_ + +typedef ::unitree_legged_msgs::MotorCmd_ > MotorCmd; + +typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd > MotorCmdPtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd const> MotorCmdConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorCmd_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::MotorCmd_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::MotorCmd_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::MotorCmd_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::MotorCmd_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::MotorCmd_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::MotorCmd_ > +{ + static const char* value() + { + return "bbb3b7d91319c3a1b99055f0149ba221"; + } + + static const char* value(const ::unitree_legged_msgs::MotorCmd_&) { return value(); } + static const uint64_t static_value1 = 0xbbb3b7d91319c3a1ULL; + static const uint64_t static_value2 = 0xb99055f0149ba221ULL; +}; + +template +struct DataType< ::unitree_legged_msgs::MotorCmd_ > +{ + static const char* value() + { + return "unitree_legged_msgs/MotorCmd"; + } + + static const char* value(const ::unitree_legged_msgs::MotorCmd_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::MotorCmd_ > +{ + static const char* value() + { + return "uint8 mode # motor target mode\n\ +float32 q # motor target position\n\ +float32 dq # motor target velocity\n\ +float32 tau # motor target torque\n\ +float32 Kp # motor spring stiffness coefficient\n\ +float32 Kd # motor damper coefficient\n\ +uint32[3] reserve # motor target torque\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::MotorCmd_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::MotorCmd_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.mode); + stream.next(m.q); + stream.next(m.dq); + stream.next(m.tau); + stream.next(m.Kp); + stream.next(m.Kd); + stream.next(m.reserve); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct MotorCmd_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::MotorCmd_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorCmd_& v) + { + s << indent << "mode: "; + Printer::stream(s, indent + " ", v.mode); + s << indent << "q: "; + Printer::stream(s, indent + " ", v.q); + s << indent << "dq: "; + Printer::stream(s, indent + " ", v.dq); + s << indent << "tau: "; + Printer::stream(s, indent + " ", v.tau); + s << indent << "Kp: "; + Printer::stream(s, indent + " ", v.Kp); + s << indent << "Kd: "; + Printer::stream(s, indent + " ", v.Kd); + s << indent << "reserve[]" << std::endl; + for (size_t i = 0; i < v.reserve.size(); ++i) + { + s << indent << " reserve[" << i << "]: "; + Printer::stream(s, indent + " ", v.reserve[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H diff --git a/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/MotorState.h b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/MotorState.h new file mode 100644 index 00000000..e78ee64d --- /dev/null +++ b/src/Joint_Rescue_development/devel/include/unitree_legged_msgs/MotorState.h @@ -0,0 +1,274 @@ +// Generated by gencpp from file unitree_legged_msgs/MotorState.msg +// DO NOT EDIT! + + +#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H +#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace unitree_legged_msgs +{ +template +struct MotorState_ +{ + typedef MotorState_ Type; + + MotorState_() + : mode(0) + , q(0.0) + , dq(0.0) + , ddq(0.0) + , tauEst(0.0) + , q_raw(0.0) + , dq_raw(0.0) + , ddq_raw(0.0) + , temperature(0) + , reserve() { + reserve.assign(0); + } + MotorState_(const ContainerAllocator& _alloc) + : mode(0) + , q(0.0) + , dq(0.0) + , ddq(0.0) + , tauEst(0.0) + , q_raw(0.0) + , dq_raw(0.0) + , ddq_raw(0.0) + , temperature(0) + , reserve() { + (void)_alloc; + reserve.assign(0); + } + + + + typedef uint8_t _mode_type; + _mode_type mode; + + typedef float _q_type; + _q_type q; + + typedef float _dq_type; + _dq_type dq; + + typedef float _ddq_type; + _ddq_type ddq; + + typedef float _tauEst_type; + _tauEst_type tauEst; + + typedef float _q_raw_type; + _q_raw_type q_raw; + + typedef float _dq_raw_type; + _dq_raw_type dq_raw; + + typedef float _ddq_raw_type; + _ddq_raw_type ddq_raw; + + typedef int8_t _temperature_type; + _temperature_type temperature; + + typedef boost::array _reserve_type; + _reserve_type reserve; + + + + + + typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_ > Ptr; + typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_ const> ConstPtr; + +}; // struct MotorState_ + +typedef ::unitree_legged_msgs::MotorState_ > MotorState; + +typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState > MotorStatePtr; +typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState const> MotorStateConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorState_ & v) +{ +ros::message_operations::Printer< ::unitree_legged_msgs::MotorState_ >::stream(s, "", v); +return s; +} + +} // namespace unitree_legged_msgs + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'sensor_msgs': ['/opt/ros/kinetic/share/sensor_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'unitree_legged_msgs': ['/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::unitree_legged_msgs::MotorState_ > + : TrueType + { }; + +template +struct IsFixedSize< ::unitree_legged_msgs::MotorState_ const> + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::MotorState_ > + : TrueType + { }; + +template +struct IsMessage< ::unitree_legged_msgs::MotorState_ const> + : TrueType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::MotorState_ > + : FalseType + { }; + +template +struct HasHeader< ::unitree_legged_msgs::MotorState_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::unitree_legged_msgs::MotorState_ > +{ + static const char* value() + { + return "94c55ee3b7852be2bd437b20ce12a254"; + } + + static const char* value(const ::unitree_legged_msgs::MotorState_&) { return value(); } + static const uint64_t static_value1 = 0x94c55ee3b7852be2ULL; + static const uint64_t static_value2 = 0xbd437b20ce12a254ULL; +}; + +template +struct DataType< ::unitree_legged_msgs::MotorState_ > +{ + static const char* value() + { + return "unitree_legged_msgs/MotorState"; + } + + static const char* value(const ::unitree_legged_msgs::MotorState_&) { return value(); } +}; + +template +struct Definition< ::unitree_legged_msgs::MotorState_ > +{ + static const char* value() + { + return "uint8 mode # motor current mode \n\ +float32 q # motor current position（rad）\n\ +float32 dq # motor current speed（rad/s）\n\ +float32 ddq # motor current speed（rad/s）\n\ +float32 tauEst # current estimated output torque（N*m）\n\ +float32 q_raw # motor current position（rad）\n\ +float32 dq_raw # motor current speed（rad/s）\n\ +float32 ddq_raw # motor current speed（rad/s）\n\ +int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n\ +uint32[2] reserve\n\ +"; + } + + static const char* value(const ::unitree_legged_msgs::MotorState_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::unitree_legged_msgs::MotorState_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.mode); + stream.next(m.q); + stream.next(m.dq); + stream.next(m.ddq); + stream.next(m.tauEst); + stream.next(m.q_raw); + stream.next(m.dq_raw); + stream.next(m.ddq_raw); + stream.next(m.temperature); + stream.next(m.reserve); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct MotorState_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::unitree_legged_msgs::MotorState_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorState_& v) + { + s << indent << "mode: "; + Printer::stream(s, indent + " ", v.mode); + s << indent << "q: "; + Printer::stream(s, indent + " ", v.q); + s << indent << "dq: "; + Printer::stream(s, indent + " ", v.dq); + s << indent << "ddq: "; + Printer::stream(s, indent + " ", v.ddq); + s << indent << "tauEst: "; + Printer::stream(s, indent + " ", v.tauEst); + s << indent << "q_raw: "; + Printer::stream(s, indent + " ", v.q_raw); + s << indent << "dq_raw: "; + Printer::stream(s, indent + " ", v.dq_raw); + s << indent << "ddq_raw: "; + Printer::stream(s, indent + " ", v.ddq_raw); + s << indent << "temperature: "; + Printer::stream(s, indent + " ", v.temperature); + s << indent << "reserve[]" << std::endl; + for (size_t i = 0; i < v.reserve.size(); ++i) + { + s << indent << " reserve[" << i << "]: "; + Printer::stream(s, indent + " ", v.reserve[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H diff --git a/src/Joint_Rescue_development/devel/lib/libdatabase.so b/src/Joint_Rescue_development/devel/lib/libdatabase.so new file mode 100644 index 00000000..f5078676 Binary files /dev/null and b/src/Joint_Rescue_development/devel/lib/libdatabase.so differ diff --git a/src/Joint_Rescue_development/devel/lib/libmainwindow.so b/src/Joint_Rescue_development/devel/lib/libmainwindow.so new file mode 100644 index 00000000..2342b84e Binary files /dev/null and b/src/Joint_Rescue_development/devel/lib/libmainwindow.so differ diff --git a/src/Joint_Rescue_development/devel/lib/libmissionset.so b/src/Joint_Rescue_development/devel/lib/libmissionset.so new file mode 100644 index 00000000..a3313047 Binary files /dev/null and b/src/Joint_Rescue_development/devel/lib/libmissionset.so differ diff --git a/src/Joint_Rescue_development/devel/lib/libmissionwindow.so 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b/src/Joint_Rescue_development/devel/lib/librvizwindow.so differ diff --git a/src/Joint_Rescue_development/devel/lib/libsend_transform.so b/src/Joint_Rescue_development/devel/lib/libsend_transform.so new file mode 100644 index 00000000..82b277b8 Binary files /dev/null and b/src/Joint_Rescue_development/devel/lib/libsend_transform.so differ diff --git a/src/Joint_Rescue_development/devel/lib/pkgconfig/librviz_tutorial.pc b/src/Joint_Rescue_development/devel/lib/pkgconfig/librviz_tutorial.pc new file mode 100644 index 00000000..e088f7fe --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/pkgconfig/librviz_tutorial.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/devel + +Name: librviz_tutorial +Description: Description of librviz_tutorial +Version: 0.11.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Joint_Rescue_development/devel/lib/pkgconfig/qt_app.pc b/src/Joint_Rescue_development/devel/lib/pkgconfig/qt_app.pc new file mode 100644 index 00000000..e35e264c --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/pkgconfig/qt_app.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/devel + +Name: qt_app +Description: Description of qt_app +Version: 0.0.1 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Joint_Rescue_development/devel/lib/pkgconfig/udp_port.pc b/src/Joint_Rescue_development/devel/lib/pkgconfig/udp_port.pc new file mode 100644 index 00000000..1656343c --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/pkgconfig/udp_port.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/devel + +Name: udp_port +Description: Description of udp_port +Version: 0.0.1 +Cflags: +Libs: -L${prefix}/lib +Requires: roscpp std_msgs message_generation message_runtime diff --git a/src/Joint_Rescue_development/devel/lib/pkgconfig/unitree_legged_msgs.pc b/src/Joint_Rescue_development/devel/lib/pkgconfig/unitree_legged_msgs.pc new file mode 100644 index 00000000..875762de --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/pkgconfig/unitree_legged_msgs.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/devel + +Name: unitree_legged_msgs +Description: Description of unitree_legged_msgs +Version: 0.0.0 +Cflags: -I/home/chinhan/Joint_Rescue_development/devel/include +Libs: -L${prefix}/lib +Requires: message_runtime std_msgs geometry_msgs sensor_msgs diff --git a/src/Joint_Rescue_development/devel/lib/pkgconfig/unitree_legged_real.pc b/src/Joint_Rescue_development/devel/lib/pkgconfig/unitree_legged_real.pc new file mode 100644 index 00000000..bd37b9fe --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/pkgconfig/unitree_legged_real.pc @@ -0,0 +1,8 @@ +prefix=/home/chinhan/Joint_Rescue_development/devel + +Name: unitree_legged_real +Description: Description of unitree_legged_real +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/__init__.py b/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_Cartesian.py b/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_Cartesian.py new file mode 100644 index 00000000..7bcbf85c --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_Cartesian.py @@ -0,0 +1,120 @@ +# This Python file uses the following encoding: utf-8 +"""autogenerated by genpy from unitree_legged_msgs/Cartesian.msg. Do not edit.""" +import codecs +import sys +python3 = True if sys.hexversion > 0x03000000 else False +import genpy +import struct + + +class Cartesian(genpy.Message): + _md5sum = "cc153912f1453b708d221682bc23d9ac" + _type = "unitree_legged_msgs/Cartesian" + _has_header = False # flag to mark the presence of a Header object + _full_text = """float32 x +float32 y +float32 z""" + __slots__ = ['x','y','z'] + _slot_types = ['float32','float32','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + x,y,z + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(Cartesian, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.x is None: + self.x = 0. + if self.y is None: + self.y = 0. + if self.z is None: + self.z = 0. + else: + self.x = 0. + self.y = 0. + self.z = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_3f = None +def _get_struct_3f(): + global _struct_3f + if _struct_3f is None: + _struct_3f = struct.Struct("<3f") + return _struct_3f diff --git a/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_HighCmd.py b/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_HighCmd.py new file mode 100644 index 00000000..a16fac88 --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_HighCmd.py @@ -0,0 +1,292 @@ +# This Python file uses the following encoding: utf-8 +"""autogenerated by genpy from unitree_legged_msgs/HighCmd.msg. Do not edit.""" +import codecs +import sys +python3 = True if sys.hexversion > 0x03000000 else False +import genpy +import struct + +import unitree_legged_msgs.msg + +class HighCmd(genpy.Message): + _md5sum = "1a655499a3f64905db59ceed65ca774a" + _type = "unitree_legged_msgs/HighCmd" + _has_header = False # flag to mark the presence of a Header object + _full_text = """uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +uint8 mode +float32 forwardSpeed +float32 sideSpeed +float32 rotateSpeed +float32 bodyHeight +float32 footRaiseHeight +float32 yaw +float32 pitch +float32 roll +LED[4] led +uint8[40] wirelessRemote +uint8[40] AppRemote # Old version Aliengo does not have +uint32 reserve # Old version Aliengo does not have +int32 crc +================================================================================ +MSG: unitree_legged_msgs/LED +uint8 r +uint8 g +uint8 b""" + __slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','mode','forwardSpeed','sideSpeed','rotateSpeed','bodyHeight','footRaiseHeight','yaw','pitch','roll','led','wirelessRemote','AppRemote','reserve','crc'] + _slot_types = ['uint8','uint16','uint16','uint32','uint8','uint8','float32','float32','float32','float32','float32','float32','float32','float32','unitree_legged_msgs/LED[4]','uint8[40]','uint8[40]','uint32','int32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + levelFlag,commVersion,robotID,SN,bandWidth,mode,forwardSpeed,sideSpeed,rotateSpeed,bodyHeight,footRaiseHeight,yaw,pitch,roll,led,wirelessRemote,AppRemote,reserve,crc + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(HighCmd, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.levelFlag is None: + self.levelFlag = 0 + if self.commVersion is None: + self.commVersion = 0 + if self.robotID is None: + self.robotID = 0 + if self.SN is None: + self.SN = 0 + if self.bandWidth is None: + self.bandWidth = 0 + if self.mode is None: + self.mode = 0 + if self.forwardSpeed is None: + self.forwardSpeed = 0. + if self.sideSpeed is None: + self.sideSpeed = 0. + if self.rotateSpeed is None: + self.rotateSpeed = 0. + if self.bodyHeight is None: + self.bodyHeight = 0. + if self.footRaiseHeight is None: + self.footRaiseHeight = 0. + if self.yaw is None: + self.yaw = 0. + if self.pitch is None: + self.pitch = 0. + if self.roll is None: + self.roll = 0. + if self.led is None: + self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)] + if self.wirelessRemote is None: + self.wirelessRemote = b'\0'*40 + if self.AppRemote is None: + self.AppRemote = b'\0'*40 + if self.reserve is None: + self.reserve = 0 + if self.crc is None: + self.crc = 0 + else: + self.levelFlag = 0 + self.commVersion = 0 + self.robotID = 0 + self.SN = 0 + self.bandWidth = 0 + self.mode = 0 + self.forwardSpeed = 0. + self.sideSpeed = 0. + self.rotateSpeed = 0. + self.bodyHeight = 0. + self.footRaiseHeight = 0. + self.yaw = 0. + self.pitch = 0. + self.roll = 0. + self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)] + self.wirelessRemote = b'\0'*40 + self.AppRemote = b'\0'*40 + self.reserve = 0 + self.crc = 0 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_B2HI2B8f().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll)) + if len(self.led) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led'))) + for val1 in self.led: + _x = val1 + buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self.AppRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_Ii().pack(_x.reserve, _x.crc)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.led is None: + self.led = None + end = 0 + _x = self + start = end + end += 43 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll,) = _get_struct_B2HI2B8f().unpack(str[start:end]) + self.led = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.LED() + _x = val1 + start = end + end += 3 + (_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end]) + self.led.append(val1) + start = end + end += 40 + self.wirelessRemote = str[start:end] + start = end + end += 40 + self.AppRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_Ii().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_B2HI2B8f().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll)) + if len(self.led) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led'))) + for val1 in self.led: + _x = val1 + buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self.AppRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_Ii().pack(_x.reserve, _x.crc)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.led is None: + self.led = None + end = 0 + _x = self + start = end + end += 43 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.footRaiseHeight, _x.yaw, _x.pitch, _x.roll,) = _get_struct_B2HI2B8f().unpack(str[start:end]) + self.led = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.LED() + _x = val1 + start = end + end += 3 + (_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end]) + self.led.append(val1) + start = end + end += 40 + self.wirelessRemote = str[start:end] + start = end + end += 40 + self.AppRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_Ii().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_3B = None +def _get_struct_3B(): + global _struct_3B + if _struct_3B is None: + _struct_3B = struct.Struct("<3B") + return _struct_3B +_struct_40B = None +def _get_struct_40B(): + global _struct_40B + if _struct_40B is None: + _struct_40B = struct.Struct("<40B") + return _struct_40B +_struct_40s = None +def _get_struct_40s(): + global _struct_40s + if _struct_40s is None: + _struct_40s = struct.Struct("<40s") + return _struct_40s +_struct_B2HI2B8f = None +def _get_struct_B2HI2B8f(): + global _struct_B2HI2B8f + if _struct_B2HI2B8f is None: + _struct_B2HI2B8f = struct.Struct(" 0x03000000 else False +import genpy +import struct + +import unitree_legged_msgs.msg + +class HighState(genpy.Message): + _md5sum = "a12e8b22df896c82203810ec6d521dad" + _type = "unitree_legged_msgs/HighState" + _has_header = False # flag to mark the presence of a Header object + _full_text = """uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +uint8 mode +IMU imu +float32 forwardSpeed +float32 sideSpeed +float32 rotateSpeed +float32 bodyHeight +float32 updownSpeed +float32 forwardPosition # (will be float type next version) # Old version Aliengo is different +float32 sidePosition # (will be float type next version) # Old version Aliengo is different +Cartesian[4] footPosition2Body +Cartesian[4] footSpeed2Body +int16[4] footForce # Old version Aliengo is different +int16[4] footForceEst # Old version Aliengo does not have +uint32 tick +uint8[40] wirelessRemote +uint32 reserve # Old version Aliengo does not have +uint32 crc + +# Under are not defined in SDK yet. # Old version Aliengo does not have +Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization. +float32[12] jointP # for visualization +================================================================================ +MSG: unitree_legged_msgs/IMU +float32[4] quaternion +float32[3] gyroscope +float32[3] accelerometer +int8 temperature +================================================================================ +MSG: unitree_legged_msgs/Cartesian +float32 x +float32 y +float32 z""" + __slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','mode','imu','forwardSpeed','sideSpeed','rotateSpeed','bodyHeight','updownSpeed','forwardPosition','sidePosition','footPosition2Body','footSpeed2Body','footForce','footForceEst','tick','wirelessRemote','reserve','crc','eeForce','jointP'] + _slot_types = ['uint8','uint16','uint16','uint32','uint8','uint8','unitree_legged_msgs/IMU','float32','float32','float32','float32','float32','float32','float32','unitree_legged_msgs/Cartesian[4]','unitree_legged_msgs/Cartesian[4]','int16[4]','int16[4]','uint32','uint8[40]','uint32','uint32','unitree_legged_msgs/Cartesian[4]','float32[12]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + levelFlag,commVersion,robotID,SN,bandWidth,mode,imu,forwardSpeed,sideSpeed,rotateSpeed,bodyHeight,updownSpeed,forwardPosition,sidePosition,footPosition2Body,footSpeed2Body,footForce,footForceEst,tick,wirelessRemote,reserve,crc,eeForce,jointP + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(HighState, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.levelFlag is None: + self.levelFlag = 0 + if self.commVersion is None: + self.commVersion = 0 + if self.robotID is None: + self.robotID = 0 + if self.SN is None: + self.SN = 0 + if self.bandWidth is None: + self.bandWidth = 0 + if self.mode is None: + self.mode = 0 + if self.imu is None: + self.imu = unitree_legged_msgs.msg.IMU() + if self.forwardSpeed is None: + self.forwardSpeed = 0. + if self.sideSpeed is None: + self.sideSpeed = 0. + if self.rotateSpeed is None: + self.rotateSpeed = 0. + if self.bodyHeight is None: + self.bodyHeight = 0. + if self.updownSpeed is None: + self.updownSpeed = 0. + if self.forwardPosition is None: + self.forwardPosition = 0. + if self.sidePosition is None: + self.sidePosition = 0. + if self.footPosition2Body is None: + self.footPosition2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + if self.footSpeed2Body is None: + self.footSpeed2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + if self.footForce is None: + self.footForce = [0] * 4 + if self.footForceEst is None: + self.footForceEst = [0] * 4 + if self.tick is None: + self.tick = 0 + if self.wirelessRemote is None: + self.wirelessRemote = b'\0'*40 + if self.reserve is None: + self.reserve = 0 + if self.crc is None: + self.crc = 0 + if self.eeForce is None: + self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + if self.jointP is None: + self.jointP = [0.] * 12 + else: + self.levelFlag = 0 + self.commVersion = 0 + self.robotID = 0 + self.SN = 0 + self.bandWidth = 0 + self.mode = 0 + self.imu = unitree_legged_msgs.msg.IMU() + self.forwardSpeed = 0. + self.sideSpeed = 0. + self.rotateSpeed = 0. + self.bodyHeight = 0. + self.updownSpeed = 0. + self.forwardPosition = 0. + self.sidePosition = 0. + self.footPosition2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + self.footSpeed2Body = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + self.footForce = [0] * 4 + self.footForceEst = [0] * 4 + self.tick = 0 + self.wirelessRemote = b'\0'*40 + self.reserve = 0 + self.crc = 0 + self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + self.jointP = [0.] * 12 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_B2HI2B().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode)) + buff.write(_get_struct_4f().pack(*self.imu.quaternion)) + buff.write(_get_struct_3f().pack(*self.imu.gyroscope)) + buff.write(_get_struct_3f().pack(*self.imu.accelerometer)) + _x = self + buff.write(_get_struct_b7f().pack(_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition)) + if len(self.footPosition2Body) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footPosition2Body), 'self.footPosition2Body'))) + for val1 in self.footPosition2Body: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + if len(self.footSpeed2Body) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footSpeed2Body), 'self.footSpeed2Body'))) + for val1 in self.footSpeed2Body: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + buff.write(_get_struct_4h().pack(*self.footForce)) + buff.write(_get_struct_4h().pack(*self.footForceEst)) + _x = self.tick + buff.write(_get_struct_I().pack(_x)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_2I().pack(_x.reserve, _x.crc)) + if len(self.eeForce) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce'))) + for val1 in self.eeForce: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + buff.write(_get_struct_12f().pack(*self.jointP)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.imu is None: + self.imu = unitree_legged_msgs.msg.IMU() + if self.footPosition2Body is None: + self.footPosition2Body = None + if self.footSpeed2Body is None: + self.footSpeed2Body = None + if self.eeForce is None: + self.eeForce = None + end = 0 + _x = self + start = end + end += 11 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode,) = _get_struct_B2HI2B().unpack(str[start:end]) + start = end + end += 16 + self.imu.quaternion = _get_struct_4f().unpack(str[start:end]) + start = end + end += 12 + self.imu.gyroscope = _get_struct_3f().unpack(str[start:end]) + start = end + end += 12 + self.imu.accelerometer = _get_struct_3f().unpack(str[start:end]) + _x = self + start = end + end += 29 + (_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition,) = _get_struct_b7f().unpack(str[start:end]) + self.footPosition2Body = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.footPosition2Body.append(val1) + self.footSpeed2Body = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.footSpeed2Body.append(val1) + start = end + end += 8 + self.footForce = _get_struct_4h().unpack(str[start:end]) + start = end + end += 8 + self.footForceEst = _get_struct_4h().unpack(str[start:end]) + start = end + end += 4 + (self.tick,) = _get_struct_I().unpack(str[start:end]) + start = end + end += 40 + self.wirelessRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end]) + self.eeForce = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.eeForce.append(val1) + start = end + end += 48 + self.jointP = _get_struct_12f().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_B2HI2B().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode)) + buff.write(self.imu.quaternion.tostring()) + buff.write(self.imu.gyroscope.tostring()) + buff.write(self.imu.accelerometer.tostring()) + _x = self + buff.write(_get_struct_b7f().pack(_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition)) + if len(self.footPosition2Body) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footPosition2Body), 'self.footPosition2Body'))) + for val1 in self.footPosition2Body: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + if len(self.footSpeed2Body) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.footSpeed2Body), 'self.footSpeed2Body'))) + for val1 in self.footSpeed2Body: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + buff.write(self.footForce.tostring()) + buff.write(self.footForceEst.tostring()) + _x = self.tick + buff.write(_get_struct_I().pack(_x)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_2I().pack(_x.reserve, _x.crc)) + if len(self.eeForce) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce'))) + for val1 in self.eeForce: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + buff.write(self.jointP.tostring()) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.imu is None: + self.imu = unitree_legged_msgs.msg.IMU() + if self.footPosition2Body is None: + self.footPosition2Body = None + if self.footSpeed2Body is None: + self.footSpeed2Body = None + if self.eeForce is None: + self.eeForce = None + end = 0 + _x = self + start = end + end += 11 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth, _x.mode,) = _get_struct_B2HI2B().unpack(str[start:end]) + start = end + end += 16 + self.imu.quaternion = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=4) + start = end + end += 12 + self.imu.gyroscope = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3) + start = end + end += 12 + self.imu.accelerometer = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3) + _x = self + start = end + end += 29 + (_x.imu.temperature, _x.forwardSpeed, _x.sideSpeed, _x.rotateSpeed, _x.bodyHeight, _x.updownSpeed, _x.forwardPosition, _x.sidePosition,) = _get_struct_b7f().unpack(str[start:end]) + self.footPosition2Body = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.footPosition2Body.append(val1) + self.footSpeed2Body = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.footSpeed2Body.append(val1) + start = end + end += 8 + self.footForce = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4) + start = end + end += 8 + self.footForceEst = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4) + start = end + end += 4 + (self.tick,) = _get_struct_I().unpack(str[start:end]) + start = end + end += 40 + self.wirelessRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end]) + self.eeForce = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.eeForce.append(val1) + start = end + end += 48 + self.jointP = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=12) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_12f = None +def _get_struct_12f(): + global _struct_12f + if _struct_12f is None: + _struct_12f = struct.Struct("<12f") + return _struct_12f +_struct_2I = None +def _get_struct_2I(): + global _struct_2I + if _struct_2I is None: + _struct_2I = struct.Struct("<2I") + return _struct_2I +_struct_3f = None +def _get_struct_3f(): + global _struct_3f + if _struct_3f is None: + _struct_3f = struct.Struct("<3f") + return _struct_3f +_struct_40B = None +def _get_struct_40B(): + global _struct_40B + if _struct_40B is None: + _struct_40B = struct.Struct("<40B") + return _struct_40B +_struct_40s = None +def _get_struct_40s(): + global _struct_40s + if _struct_40s is None: + _struct_40s = struct.Struct("<40s") + return _struct_40s +_struct_4f = None +def _get_struct_4f(): + global _struct_4f + if _struct_4f is None: + _struct_4f = struct.Struct("<4f") + return _struct_4f +_struct_4h = None +def _get_struct_4h(): + global _struct_4h + if _struct_4h is None: + _struct_4h = struct.Struct("<4h") + return _struct_4h +_struct_B2HI2B = None +def _get_struct_B2HI2B(): + global _struct_B2HI2B + if _struct_B2HI2B is None: + _struct_B2HI2B = struct.Struct(" 0x03000000 else False +import genpy +import struct + + +class IMU(genpy.Message): + _md5sum = "dd4bb4e42aa2f15aa1fb1b6a3c3752cb" + _type = "unitree_legged_msgs/IMU" + _has_header = False # flag to mark the presence of a Header object + _full_text = """float32[4] quaternion +float32[3] gyroscope +float32[3] accelerometer +int8 temperature""" + __slots__ = ['quaternion','gyroscope','accelerometer','temperature'] + _slot_types = ['float32[4]','float32[3]','float32[3]','int8'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + quaternion,gyroscope,accelerometer,temperature + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(IMU, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.quaternion is None: + self.quaternion = [0.] * 4 + if self.gyroscope is None: + self.gyroscope = [0.] * 3 + if self.accelerometer is None: + self.accelerometer = [0.] * 3 + if self.temperature is None: + self.temperature = 0 + else: + self.quaternion = [0.] * 4 + self.gyroscope = [0.] * 3 + self.accelerometer = [0.] * 3 + self.temperature = 0 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + buff.write(_get_struct_4f().pack(*self.quaternion)) + buff.write(_get_struct_3f().pack(*self.gyroscope)) + buff.write(_get_struct_3f().pack(*self.accelerometer)) + _x = self.temperature + buff.write(_get_struct_b().pack(_x)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + start = end + end += 16 + self.quaternion = _get_struct_4f().unpack(str[start:end]) + start = end + end += 12 + self.gyroscope = _get_struct_3f().unpack(str[start:end]) + start = end + end += 12 + self.accelerometer = _get_struct_3f().unpack(str[start:end]) + start = end + end += 1 + (self.temperature,) = _get_struct_b().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + buff.write(self.quaternion.tostring()) + buff.write(self.gyroscope.tostring()) + buff.write(self.accelerometer.tostring()) + _x = self.temperature + buff.write(_get_struct_b().pack(_x)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + start = end + end += 16 + self.quaternion = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=4) + start = end + end += 12 + self.gyroscope = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3) + start = end + end += 12 + self.accelerometer = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3) + start = end + end += 1 + (self.temperature,) = _get_struct_b().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_3f = None +def _get_struct_3f(): + global _struct_3f + if _struct_3f is None: + _struct_3f = struct.Struct("<3f") + return _struct_3f +_struct_4f = None +def _get_struct_4f(): + global _struct_4f + if _struct_4f is None: + _struct_4f = struct.Struct("<4f") + return _struct_4f +_struct_b = None +def _get_struct_b(): + global _struct_b + if _struct_b is None: + _struct_b = struct.Struct(" 0x03000000 else False +import genpy +import struct + + +class LED(genpy.Message): + _md5sum = "353891e354491c51aabe32df673fb446" + _type = "unitree_legged_msgs/LED" + _has_header = False # flag to mark the presence of a Header object + _full_text = """uint8 r +uint8 g +uint8 b""" + __slots__ = ['r','g','b'] + _slot_types = ['uint8','uint8','uint8'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + r,g,b + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(LED, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.r is None: + self.r = 0 + if self.g is None: + self.g = 0 + if self.b is None: + self.b = 0 + else: + self.r = 0 + self.g = 0 + self.b = 0 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 3 + (_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 3 + (_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_3B = None +def _get_struct_3B(): + global _struct_3B + if _struct_3B is None: + _struct_3B = struct.Struct("<3B") + return _struct_3B diff --git a/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_LowCmd.py b/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_LowCmd.py new file mode 100644 index 00000000..b3f035bc --- /dev/null +++ b/src/Joint_Rescue_development/devel/lib/python2.7/dist-packages/unitree_legged_msgs/msg/_LowCmd.py @@ -0,0 +1,343 @@ +# This Python file uses the following encoding: utf-8 +"""autogenerated by genpy from unitree_legged_msgs/LowCmd.msg. Do not edit.""" +import codecs +import sys +python3 = True if sys.hexversion > 0x03000000 else False +import genpy +import struct + +import unitree_legged_msgs.msg + +class LowCmd(genpy.Message): + _md5sum = "357432b2562edd0a8e89b9c9f5fc4821" + _type = "unitree_legged_msgs/LowCmd" + _has_header = False # flag to mark the presence of a Header object + _full_text = """uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +MotorCmd[20] motorCmd +LED[4] led +uint8[40] wirelessRemote +uint32 reserve # Old version Aliengo does not have +uint32 crc + +Cartesian[4] ff # will delete # Old version Aliengo does not have +================================================================================ +MSG: unitree_legged_msgs/MotorCmd +uint8 mode # motor target mode +float32 q # motor target position +float32 dq # motor target velocity +float32 tau # motor target torque +float32 Kp # motor spring stiffness coefficient +float32 Kd # motor damper coefficient +uint32[3] reserve # motor target torque +================================================================================ +MSG: unitree_legged_msgs/LED +uint8 r +uint8 g +uint8 b +================================================================================ +MSG: unitree_legged_msgs/Cartesian +float32 x +float32 y +float32 z""" + __slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','motorCmd','led','wirelessRemote','reserve','crc','ff'] + _slot_types = ['uint8','uint16','uint16','uint32','uint8','unitree_legged_msgs/MotorCmd[20]','unitree_legged_msgs/LED[4]','uint8[40]','uint32','uint32','unitree_legged_msgs/Cartesian[4]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + levelFlag,commVersion,robotID,SN,bandWidth,motorCmd,led,wirelessRemote,reserve,crc,ff + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(LowCmd, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.levelFlag is None: + self.levelFlag = 0 + if self.commVersion is None: + self.commVersion = 0 + if self.robotID is None: + self.robotID = 0 + if self.SN is None: + self.SN = 0 + if self.bandWidth is None: + self.bandWidth = 0 + if self.motorCmd is None: + self.motorCmd = [unitree_legged_msgs.msg.MotorCmd() for _ in range(20)] + if self.led is None: + self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)] + if self.wirelessRemote is None: + self.wirelessRemote = b'\0'*40 + if self.reserve is None: + self.reserve = 0 + if self.crc is None: + self.crc = 0 + if self.ff is None: + self.ff = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + else: + self.levelFlag = 0 + self.commVersion = 0 + self.robotID = 0 + self.SN = 0 + self.bandWidth = 0 + self.motorCmd = [unitree_legged_msgs.msg.MotorCmd() for _ in range(20)] + self.led = [unitree_legged_msgs.msg.LED() for _ in range(4)] + self.wirelessRemote = b'\0'*40 + self.reserve = 0 + self.crc = 0 + self.ff = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth)) + if len(self.motorCmd) != 20: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorCmd), 'self.motorCmd'))) + for val1 in self.motorCmd: + _x = val1 + buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd)) + buff.write(_get_struct_3I().pack(*val1.reserve)) + if len(self.led) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led'))) + for val1 in self.led: + _x = val1 + buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_2I().pack(_x.reserve, _x.crc)) + if len(self.ff) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.ff), 'self.ff'))) + for val1 in self.ff: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.motorCmd is None: + self.motorCmd = None + if self.led is None: + self.led = None + if self.ff is None: + self.ff = None + end = 0 + _x = self + start = end + end += 10 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end]) + self.motorCmd = [] + for i in range(0, 20): + val1 = unitree_legged_msgs.msg.MotorCmd() + _x = val1 + start = end + end += 21 + (_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end]) + start = end + end += 12 + val1.reserve = _get_struct_3I().unpack(str[start:end]) + self.motorCmd.append(val1) + self.led = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.LED() + _x = val1 + start = end + end += 3 + (_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end]) + self.led.append(val1) + start = end + end += 40 + self.wirelessRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end]) + self.ff = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.ff.append(val1) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth)) + if len(self.motorCmd) != 20: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorCmd), 'self.motorCmd'))) + for val1 in self.motorCmd: + _x = val1 + buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd)) + buff.write(val1.reserve.tostring()) + if len(self.led) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.led), 'self.led'))) + for val1 in self.led: + _x = val1 + buff.write(_get_struct_3B().pack(_x.r, _x.g, _x.b)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_2I().pack(_x.reserve, _x.crc)) + if len(self.ff) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.ff), 'self.ff'))) + for val1 in self.ff: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.motorCmd is None: + self.motorCmd = None + if self.led is None: + self.led = None + if self.ff is None: + self.ff = None + end = 0 + _x = self + start = end + end += 10 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end]) + self.motorCmd = [] + for i in range(0, 20): + val1 = unitree_legged_msgs.msg.MotorCmd() + _x = val1 + start = end + end += 21 + (_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end]) + start = end + end += 12 + val1.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3) + self.motorCmd.append(val1) + self.led = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.LED() + _x = val1 + start = end + end += 3 + (_x.r, _x.g, _x.b,) = _get_struct_3B().unpack(str[start:end]) + self.led.append(val1) + start = end + end += 40 + self.wirelessRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end]) + self.ff = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.ff.append(val1) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_2I = None +def _get_struct_2I(): + global _struct_2I + if _struct_2I is None: + _struct_2I = struct.Struct("<2I") + return _struct_2I +_struct_3B = None +def _get_struct_3B(): + global _struct_3B + if _struct_3B is None: + _struct_3B = struct.Struct("<3B") + return _struct_3B +_struct_3I = None +def _get_struct_3I(): + global _struct_3I + if _struct_3I is None: + _struct_3I = struct.Struct("<3I") + return _struct_3I +_struct_3f = None +def _get_struct_3f(): + global _struct_3f + if _struct_3f is None: + _struct_3f = struct.Struct("<3f") + return _struct_3f +_struct_40B = None +def _get_struct_40B(): + global _struct_40B + if _struct_40B is None: + _struct_40B = struct.Struct("<40B") + return _struct_40B +_struct_40s = None +def _get_struct_40s(): + global _struct_40s + if _struct_40s is None: + _struct_40s = struct.Struct("<40s") + return _struct_40s +_struct_B2HIB = None +def _get_struct_B2HIB(): + global _struct_B2HIB + if _struct_B2HIB is None: + _struct_B2HIB = struct.Struct(" 0x03000000 else False +import genpy +import struct + +import unitree_legged_msgs.msg + +class LowState(genpy.Message): + _md5sum = "cef9d4f6b5a89bd6330896affb1bca88" + _type = "unitree_legged_msgs/LowState" + _has_header = False # flag to mark the presence of a Header object + _full_text = """uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +IMU imu +MotorState[20] motorState +int16[4] footForce # force sensors # Old version Aliengo is different +int16[4] footForceEst # force sensors # Old version Aliengo does not have +uint32 tick # reference real-time from motion controller (unit: us) +uint8[40] wirelessRemote # wireless commands +uint32 reserve # Old version Aliengo does not have +uint32 crc + +# Old version Aliengo does not have: +Cartesian[4] eeForceRaw +Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization +Cartesian position # will delete +Cartesian velocity # will delete +Cartesian velocity_w # will delete + +================================================================================ +MSG: unitree_legged_msgs/IMU +float32[4] quaternion +float32[3] gyroscope +float32[3] accelerometer +int8 temperature +================================================================================ +MSG: unitree_legged_msgs/MotorState +uint8 mode # motor current mode +float32 q # motor current position（rad） +float32 dq # motor current speed（rad/s） +float32 ddq # motor current speed（rad/s） +float32 tauEst # current estimated output torque（N*m） +float32 q_raw # motor current position（rad） +float32 dq_raw # motor current speed（rad/s） +float32 ddq_raw # motor current speed（rad/s） +int8 temperature # motor temperature（slow conduction of temperature leads to lag） +uint32[2] reserve +================================================================================ +MSG: unitree_legged_msgs/Cartesian +float32 x +float32 y +float32 z""" + __slots__ = ['levelFlag','commVersion','robotID','SN','bandWidth','imu','motorState','footForce','footForceEst','tick','wirelessRemote','reserve','crc','eeForceRaw','eeForce','position','velocity','velocity_w'] + _slot_types = ['uint8','uint16','uint16','uint32','uint8','unitree_legged_msgs/IMU','unitree_legged_msgs/MotorState[20]','int16[4]','int16[4]','uint32','uint8[40]','uint32','uint32','unitree_legged_msgs/Cartesian[4]','unitree_legged_msgs/Cartesian[4]','unitree_legged_msgs/Cartesian','unitree_legged_msgs/Cartesian','unitree_legged_msgs/Cartesian'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + levelFlag,commVersion,robotID,SN,bandWidth,imu,motorState,footForce,footForceEst,tick,wirelessRemote,reserve,crc,eeForceRaw,eeForce,position,velocity,velocity_w + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(LowState, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.levelFlag is None: + self.levelFlag = 0 + if self.commVersion is None: + self.commVersion = 0 + if self.robotID is None: + self.robotID = 0 + if self.SN is None: + self.SN = 0 + if self.bandWidth is None: + self.bandWidth = 0 + if self.imu is None: + self.imu = unitree_legged_msgs.msg.IMU() + if self.motorState is None: + self.motorState = [unitree_legged_msgs.msg.MotorState() for _ in range(20)] + if self.footForce is None: + self.footForce = [0] * 4 + if self.footForceEst is None: + self.footForceEst = [0] * 4 + if self.tick is None: + self.tick = 0 + if self.wirelessRemote is None: + self.wirelessRemote = b'\0'*40 + if self.reserve is None: + self.reserve = 0 + if self.crc is None: + self.crc = 0 + if self.eeForceRaw is None: + self.eeForceRaw = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + if self.eeForce is None: + self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + if self.position is None: + self.position = unitree_legged_msgs.msg.Cartesian() + if self.velocity is None: + self.velocity = unitree_legged_msgs.msg.Cartesian() + if self.velocity_w is None: + self.velocity_w = unitree_legged_msgs.msg.Cartesian() + else: + self.levelFlag = 0 + self.commVersion = 0 + self.robotID = 0 + self.SN = 0 + self.bandWidth = 0 + self.imu = unitree_legged_msgs.msg.IMU() + self.motorState = [unitree_legged_msgs.msg.MotorState() for _ in range(20)] + self.footForce = [0] * 4 + self.footForceEst = [0] * 4 + self.tick = 0 + self.wirelessRemote = b'\0'*40 + self.reserve = 0 + self.crc = 0 + self.eeForceRaw = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + self.eeForce = [unitree_legged_msgs.msg.Cartesian() for _ in range(4)] + self.position = unitree_legged_msgs.msg.Cartesian() + self.velocity = unitree_legged_msgs.msg.Cartesian() + self.velocity_w = unitree_legged_msgs.msg.Cartesian() + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth)) + buff.write(_get_struct_4f().pack(*self.imu.quaternion)) + buff.write(_get_struct_3f().pack(*self.imu.gyroscope)) + buff.write(_get_struct_3f().pack(*self.imu.accelerometer)) + _x = self.imu.temperature + buff.write(_get_struct_b().pack(_x)) + if len(self.motorState) != 20: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorState), 'self.motorState'))) + for val1 in self.motorState: + _x = val1 + buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature)) + buff.write(_get_struct_2I().pack(*val1.reserve)) + buff.write(_get_struct_4h().pack(*self.footForce)) + buff.write(_get_struct_4h().pack(*self.footForceEst)) + _x = self.tick + buff.write(_get_struct_I().pack(_x)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_2I().pack(_x.reserve, _x.crc)) + if len(self.eeForceRaw) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForceRaw), 'self.eeForceRaw'))) + for val1 in self.eeForceRaw: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + if len(self.eeForce) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce'))) + for val1 in self.eeForce: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + _x = self + buff.write(_get_struct_9f().pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.imu is None: + self.imu = unitree_legged_msgs.msg.IMU() + if self.motorState is None: + self.motorState = None + if self.eeForceRaw is None: + self.eeForceRaw = None + if self.eeForce is None: + self.eeForce = None + if self.position is None: + self.position = unitree_legged_msgs.msg.Cartesian() + if self.velocity is None: + self.velocity = unitree_legged_msgs.msg.Cartesian() + if self.velocity_w is None: + self.velocity_w = unitree_legged_msgs.msg.Cartesian() + end = 0 + _x = self + start = end + end += 10 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end]) + start = end + end += 16 + self.imu.quaternion = _get_struct_4f().unpack(str[start:end]) + start = end + end += 12 + self.imu.gyroscope = _get_struct_3f().unpack(str[start:end]) + start = end + end += 12 + self.imu.accelerometer = _get_struct_3f().unpack(str[start:end]) + start = end + end += 1 + (self.imu.temperature,) = _get_struct_b().unpack(str[start:end]) + self.motorState = [] + for i in range(0, 20): + val1 = unitree_legged_msgs.msg.MotorState() + _x = val1 + start = end + end += 30 + (_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end]) + start = end + end += 8 + val1.reserve = _get_struct_2I().unpack(str[start:end]) + self.motorState.append(val1) + start = end + end += 8 + self.footForce = _get_struct_4h().unpack(str[start:end]) + start = end + end += 8 + self.footForceEst = _get_struct_4h().unpack(str[start:end]) + start = end + end += 4 + (self.tick,) = _get_struct_I().unpack(str[start:end]) + start = end + end += 40 + self.wirelessRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end]) + self.eeForceRaw = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.eeForceRaw.append(val1) + self.eeForce = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.eeForce.append(val1) + _x = self + start = end + end += 36 + (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z,) = _get_struct_9f().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_B2HIB().pack(_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth)) + buff.write(self.imu.quaternion.tostring()) + buff.write(self.imu.gyroscope.tostring()) + buff.write(self.imu.accelerometer.tostring()) + _x = self.imu.temperature + buff.write(_get_struct_b().pack(_x)) + if len(self.motorState) != 20: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (20, len(self.motorState), 'self.motorState'))) + for val1 in self.motorState: + _x = val1 + buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature)) + buff.write(val1.reserve.tostring()) + buff.write(self.footForce.tostring()) + buff.write(self.footForceEst.tostring()) + _x = self.tick + buff.write(_get_struct_I().pack(_x)) + _x = self.wirelessRemote + # - if encoded as a list instead, serialize as bytes instead of string + if type(_x) in [list, tuple]: + buff.write(_get_struct_40B().pack(*_x)) + else: + buff.write(_get_struct_40s().pack(_x)) + _x = self + buff.write(_get_struct_2I().pack(_x.reserve, _x.crc)) + if len(self.eeForceRaw) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForceRaw), 'self.eeForceRaw'))) + for val1 in self.eeForceRaw: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + if len(self.eeForce) != 4: + self._check_types(ValueError("Expecting %s items but found %s when writing '%s'" % (4, len(self.eeForce), 'self.eeForce'))) + for val1 in self.eeForce: + _x = val1 + buff.write(_get_struct_3f().pack(_x.x, _x.y, _x.z)) + _x = self + buff.write(_get_struct_9f().pack(_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + if self.imu is None: + self.imu = unitree_legged_msgs.msg.IMU() + if self.motorState is None: + self.motorState = None + if self.eeForceRaw is None: + self.eeForceRaw = None + if self.eeForce is None: + self.eeForce = None + if self.position is None: + self.position = unitree_legged_msgs.msg.Cartesian() + if self.velocity is None: + self.velocity = unitree_legged_msgs.msg.Cartesian() + if self.velocity_w is None: + self.velocity_w = unitree_legged_msgs.msg.Cartesian() + end = 0 + _x = self + start = end + end += 10 + (_x.levelFlag, _x.commVersion, _x.robotID, _x.SN, _x.bandWidth,) = _get_struct_B2HIB().unpack(str[start:end]) + start = end + end += 16 + self.imu.quaternion = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=4) + start = end + end += 12 + self.imu.gyroscope = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3) + start = end + end += 12 + self.imu.accelerometer = numpy.frombuffer(str[start:end], dtype=numpy.float32, count=3) + start = end + end += 1 + (self.imu.temperature,) = _get_struct_b().unpack(str[start:end]) + self.motorState = [] + for i in range(0, 20): + val1 = unitree_legged_msgs.msg.MotorState() + _x = val1 + start = end + end += 30 + (_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end]) + start = end + end += 8 + val1.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=2) + self.motorState.append(val1) + start = end + end += 8 + self.footForce = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4) + start = end + end += 8 + self.footForceEst = numpy.frombuffer(str[start:end], dtype=numpy.int16, count=4) + start = end + end += 4 + (self.tick,) = _get_struct_I().unpack(str[start:end]) + start = end + end += 40 + self.wirelessRemote = str[start:end] + _x = self + start = end + end += 8 + (_x.reserve, _x.crc,) = _get_struct_2I().unpack(str[start:end]) + self.eeForceRaw = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.eeForceRaw.append(val1) + self.eeForce = [] + for i in range(0, 4): + val1 = unitree_legged_msgs.msg.Cartesian() + _x = val1 + start = end + end += 12 + (_x.x, _x.y, _x.z,) = _get_struct_3f().unpack(str[start:end]) + self.eeForce.append(val1) + _x = self + start = end + end += 36 + (_x.position.x, _x.position.y, _x.position.z, _x.velocity.x, _x.velocity.y, _x.velocity.z, _x.velocity_w.x, _x.velocity_w.y, _x.velocity_w.z,) = _get_struct_9f().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_2I = None +def _get_struct_2I(): + global _struct_2I + if _struct_2I is None: + _struct_2I = struct.Struct("<2I") + return _struct_2I +_struct_3f = None +def _get_struct_3f(): + global _struct_3f + if _struct_3f is None: + _struct_3f = struct.Struct("<3f") + return _struct_3f +_struct_40B = None +def _get_struct_40B(): + global _struct_40B + if _struct_40B is None: + _struct_40B = struct.Struct("<40B") + return _struct_40B +_struct_40s = None +def _get_struct_40s(): + global _struct_40s + if _struct_40s is None: + _struct_40s = struct.Struct("<40s") + return _struct_40s +_struct_4f = None +def _get_struct_4f(): + global _struct_4f + if _struct_4f is None: + _struct_4f = struct.Struct("<4f") + return _struct_4f +_struct_4h = None +def _get_struct_4h(): + global _struct_4h + if _struct_4h is None: + _struct_4h = struct.Struct("<4h") + return _struct_4h +_struct_9f = None +def _get_struct_9f(): + global _struct_9f + if _struct_9f is None: + _struct_9f = struct.Struct("<9f") + return _struct_9f +_struct_B2HIB = None +def _get_struct_B2HIB(): + global _struct_B2HIB + if _struct_B2HIB is None: + _struct_B2HIB = struct.Struct(" 0x03000000 else False +import genpy +import struct + + +class MotorCmd(genpy.Message): + _md5sum = "bbb3b7d91319c3a1b99055f0149ba221" + _type = "unitree_legged_msgs/MotorCmd" + _has_header = False # flag to mark the presence of a Header object + _full_text = """uint8 mode # motor target mode +float32 q # motor target position +float32 dq # motor target velocity +float32 tau # motor target torque +float32 Kp # motor spring stiffness coefficient +float32 Kd # motor damper coefficient +uint32[3] reserve # motor target torque""" + __slots__ = ['mode','q','dq','tau','Kp','Kd','reserve'] + _slot_types = ['uint8','float32','float32','float32','float32','float32','uint32[3]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + mode,q,dq,tau,Kp,Kd,reserve + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MotorCmd, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.mode is None: + self.mode = 0 + if self.q is None: + self.q = 0. + if self.dq is None: + self.dq = 0. + if self.tau is None: + self.tau = 0. + if self.Kp is None: + self.Kp = 0. + if self.Kd is None: + self.Kd = 0. + if self.reserve is None: + self.reserve = [0] * 3 + else: + self.mode = 0 + self.q = 0. + self.dq = 0. + self.tau = 0. + self.Kp = 0. + self.Kd = 0. + self.reserve = [0] * 3 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd)) + buff.write(_get_struct_3I().pack(*self.reserve)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 21 + (_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end]) + start = end + end += 12 + self.reserve = _get_struct_3I().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_B5f().pack(_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd)) + buff.write(self.reserve.tostring()) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 21 + (_x.mode, _x.q, _x.dq, _x.tau, _x.Kp, _x.Kd,) = _get_struct_B5f().unpack(str[start:end]) + start = end + end += 12 + self.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=3) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_3I = None +def _get_struct_3I(): + global _struct_3I + if _struct_3I is None: + _struct_3I = struct.Struct("<3I") + return _struct_3I +_struct_B5f = None +def _get_struct_B5f(): + global _struct_B5f + if _struct_B5f is None: + _struct_B5f = struct.Struct(" 0x03000000 else False +import genpy +import struct + + +class MotorState(genpy.Message): + _md5sum = "94c55ee3b7852be2bd437b20ce12a254" + _type = "unitree_legged_msgs/MotorState" + _has_header = False # flag to mark the presence of a Header object + _full_text = """uint8 mode # motor current mode +float32 q # motor current position（rad） +float32 dq # motor current speed（rad/s） +float32 ddq # motor current speed（rad/s） +float32 tauEst # current estimated output torque（N*m） +float32 q_raw # motor current position（rad） +float32 dq_raw # motor current speed（rad/s） +float32 ddq_raw # motor current speed（rad/s） +int8 temperature # motor temperature（slow conduction of temperature leads to lag） +uint32[2] reserve""" + __slots__ = ['mode','q','dq','ddq','tauEst','q_raw','dq_raw','ddq_raw','temperature','reserve'] + _slot_types = ['uint8','float32','float32','float32','float32','float32','float32','float32','int8','uint32[2]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + mode,q,dq,ddq,tauEst,q_raw,dq_raw,ddq_raw,temperature,reserve + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MotorState, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.mode is None: + self.mode = 0 + if self.q is None: + self.q = 0. + if self.dq is None: + self.dq = 0. + if self.ddq is None: + self.ddq = 0. + if self.tauEst is None: + self.tauEst = 0. + if self.q_raw is None: + self.q_raw = 0. + if self.dq_raw is None: + self.dq_raw = 0. + if self.ddq_raw is None: + self.ddq_raw = 0. + if self.temperature is None: + self.temperature = 0 + if self.reserve is None: + self.reserve = [0] * 2 + else: + self.mode = 0 + self.q = 0. + self.dq = 0. + self.ddq = 0. + self.tauEst = 0. + self.q_raw = 0. + self.dq_raw = 0. + self.ddq_raw = 0. + self.temperature = 0 + self.reserve = [0] * 2 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature)) + buff.write(_get_struct_2I().pack(*self.reserve)) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 30 + (_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end]) + start = end + end += 8 + self.reserve = _get_struct_2I().unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + _x = self + buff.write(_get_struct_B7fb().pack(_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature)) + buff.write(self.reserve.tostring()) + except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self))))) + except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self))))) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + codecs.lookup_error("rosmsg").msg_type = self._type + try: + end = 0 + _x = self + start = end + end += 30 + (_x.mode, _x.q, _x.dq, _x.ddq, _x.tauEst, _x.q_raw, _x.dq_raw, _x.ddq_raw, _x.temperature,) = _get_struct_B7fb().unpack(str[start:end]) + start = end + end += 8 + self.reserve = numpy.frombuffer(str[start:end], dtype=numpy.uint32, count=2) + return self + except struct.error as e: + raise genpy.DeserializationError(e) # most likely buffer underfill + +_struct_I = genpy.struct_I +def _get_struct_I(): + global _struct_I + return _struct_I +_struct_2I = None +def _get_struct_2I(): + global _struct_2I + if _struct_2I is None: + _struct_2I = struct.Struct("<2I") + return _struct_2I +_struct_B7fb = None +def _get_struct_B7fb(): + global _struct_B7fb + if _struct_B7fb is None: + _struct_B7fb = struct.Struct(" /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/src/Joint_Rescue_development/devel/local_setup.sh b/src/Joint_Rescue_development/devel/local_setup.sh new file mode 100644 index 00000000..170ed546 --- /dev/null +++ b/src/Joint_Rescue_development/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/chinhan/Joint_Rescue_development/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/src/Joint_Rescue_development/devel/local_setup.zsh b/src/Joint_Rescue_development/devel/local_setup.zsh new file mode 100644 index 00000000..e692accf --- /dev/null +++ b/src/Joint_Rescue_development/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/src/Joint_Rescue_development/devel/setup.bash b/src/Joint_Rescue_development/devel/setup.bash new file mode 100644 index 00000000..ff47af8f --- /dev/null +++ b/src/Joint_Rescue_development/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/src/Joint_Rescue_development/devel/setup.sh b/src/Joint_Rescue_development/devel/setup.sh new file mode 100644 index 00000000..5e5160a8 --- /dev/null +++ b/src/Joint_Rescue_development/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/chinhan/Joint_Rescue_development/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/src/Joint_Rescue_development/devel/setup.zsh b/src/Joint_Rescue_development/devel/setup.zsh new file mode 100644 index 00000000..9f780b74 --- /dev/null +++ b/src/Joint_Rescue_development/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/Cartesian.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/Cartesian.lisp new file mode 100644 index 00000000..7c9f5e97 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/Cartesian.lisp @@ -0,0 +1,119 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude Cartesian.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((x + :reader x + :initarg :x + :type cl:float + :initform 0.0) + (y + :reader y + :initarg :y + :type cl:float + :initform 0.0) + (z + :reader z + :initarg :z + :type cl:float + :initform 0.0)) +) + +(cl:defclass Cartesian () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'Cartesian) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:Cartesian instead."))) + +(cl:ensure-generic-function 'x-val :lambda-list '(m)) +(cl:defmethod x-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:x-val is deprecated. Use unitree_legged_msgs-msg:x instead.") + (x m)) + +(cl:ensure-generic-function 'y-val :lambda-list '(m)) +(cl:defmethod y-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:y-val is deprecated. Use unitree_legged_msgs-msg:y instead.") + (y m)) + +(cl:ensure-generic-function 'z-val :lambda-list '(m)) +(cl:defmethod z-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:z-val is deprecated. Use unitree_legged_msgs-msg:z instead.") + (z m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'x)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'y)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'z)))) + (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:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:let ((bits 0)) + (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'x) (roslisp-utils:decode-single-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:slot-value msg 'y) (roslisp-utils:decode-single-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:slot-value msg 'z) (roslisp-utils:decode-single-float-bits bits))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/Cartesian") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Cartesian))) + "Returns string type for a message object of type 'Cartesian" + "unitree_legged_msgs/Cartesian") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "cc153912f1453b708d221682bc23d9ac") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Cartesian))) + "Returns md5sum for a message object of type 'Cartesian" + "cc153912f1453b708d221682bc23d9ac") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Cartesian))) + "Returns full string definition for message of type 'Cartesian" + (cl:format cl:nil "float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 4 + 4 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'Cartesian + (cl:cons ':x (x msg)) + (cl:cons ':y (y msg)) + (cl:cons ':z (z msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/HighCmd.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/HighCmd.lisp new file mode 100644 index 00000000..231af5f2 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/HighCmd.lisp @@ -0,0 +1,427 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude HighCmd.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((levelFlag + :reader levelFlag + :initarg :levelFlag + :type cl:fixnum + :initform 0) + (commVersion + :reader commVersion + :initarg :commVersion + :type cl:fixnum + :initform 0) + (robotID + :reader robotID + :initarg :robotID + :type cl:fixnum + :initform 0) + (SN + :reader SN + :initarg :SN + :type cl:integer + :initform 0) + (bandWidth + :reader bandWidth + :initarg :bandWidth + :type cl:fixnum + :initform 0) + (mode + :reader mode + :initarg :mode + :type cl:fixnum + :initform 0) + (forwardSpeed + :reader forwardSpeed + :initarg :forwardSpeed + :type cl:float + :initform 0.0) + (sideSpeed + :reader sideSpeed + :initarg :sideSpeed + :type cl:float + :initform 0.0) + (rotateSpeed + :reader rotateSpeed + :initarg :rotateSpeed + :type cl:float + :initform 0.0) + (bodyHeight + :reader bodyHeight + :initarg :bodyHeight + :type cl:float + :initform 0.0) + (footRaiseHeight + :reader footRaiseHeight + :initarg :footRaiseHeight + :type cl:float + :initform 0.0) + (yaw + :reader yaw + :initarg :yaw + :type cl:float + :initform 0.0) + (pitch + :reader pitch + :initarg :pitch + :type cl:float + :initform 0.0) + (roll + :reader roll + :initarg :roll + :type cl:float + :initform 0.0) + (led + :reader led + :initarg :led + :type (cl:vector unitree_legged_msgs-msg:LED) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:LED :initial-element (cl:make-instance 'unitree_legged_msgs-msg:LED))) + (wirelessRemote + :reader wirelessRemote + :initarg :wirelessRemote + :type (cl:vector cl:fixnum) + :initform (cl:make-array 40 :element-type 'cl:fixnum :initial-element 0)) + (AppRemote + :reader AppRemote + :initarg :AppRemote + :type (cl:vector cl:fixnum) + :initform (cl:make-array 40 :element-type 'cl:fixnum :initial-element 0)) + (reserve + :reader reserve + :initarg :reserve + :type cl:integer + :initform 0) + (crc + :reader crc + :initarg :crc + :type cl:integer + :initform 0)) +) + +(cl:defclass HighCmd () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'HighCmd) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:HighCmd instead."))) + +(cl:ensure-generic-function 'levelFlag-val :lambda-list '(m)) +(cl:defmethod levelFlag-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:levelFlag-val is deprecated. Use unitree_legged_msgs-msg:levelFlag instead.") + (levelFlag m)) + +(cl:ensure-generic-function 'commVersion-val :lambda-list '(m)) +(cl:defmethod commVersion-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:commVersion-val is deprecated. Use unitree_legged_msgs-msg:commVersion instead.") + (commVersion m)) + +(cl:ensure-generic-function 'robotID-val :lambda-list '(m)) +(cl:defmethod robotID-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:robotID-val is deprecated. Use unitree_legged_msgs-msg:robotID instead.") + (robotID m)) + +(cl:ensure-generic-function 'SN-val :lambda-list '(m)) +(cl:defmethod SN-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:SN-val is deprecated. Use unitree_legged_msgs-msg:SN instead.") + (SN m)) + +(cl:ensure-generic-function 'bandWidth-val :lambda-list '(m)) +(cl:defmethod bandWidth-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:bandWidth-val is deprecated. Use unitree_legged_msgs-msg:bandWidth instead.") + (bandWidth m)) + +(cl:ensure-generic-function 'mode-val :lambda-list '(m)) +(cl:defmethod mode-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:mode-val is deprecated. Use unitree_legged_msgs-msg:mode instead.") + (mode m)) + +(cl:ensure-generic-function 'forwardSpeed-val :lambda-list '(m)) +(cl:defmethod forwardSpeed-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:forwardSpeed-val is deprecated. Use unitree_legged_msgs-msg:forwardSpeed instead.") + (forwardSpeed m)) + +(cl:ensure-generic-function 'sideSpeed-val :lambda-list '(m)) +(cl:defmethod sideSpeed-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:sideSpeed-val is deprecated. Use unitree_legged_msgs-msg:sideSpeed instead.") + (sideSpeed m)) + +(cl:ensure-generic-function 'rotateSpeed-val :lambda-list '(m)) +(cl:defmethod rotateSpeed-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:rotateSpeed-val is deprecated. Use unitree_legged_msgs-msg:rotateSpeed instead.") + (rotateSpeed m)) + +(cl:ensure-generic-function 'bodyHeight-val :lambda-list '(m)) +(cl:defmethod bodyHeight-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:bodyHeight-val is deprecated. Use unitree_legged_msgs-msg:bodyHeight instead.") + (bodyHeight m)) + +(cl:ensure-generic-function 'footRaiseHeight-val :lambda-list '(m)) +(cl:defmethod footRaiseHeight-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:footRaiseHeight-val is deprecated. Use unitree_legged_msgs-msg:footRaiseHeight instead.") + (footRaiseHeight m)) + +(cl:ensure-generic-function 'yaw-val :lambda-list '(m)) +(cl:defmethod yaw-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:yaw-val is deprecated. Use unitree_legged_msgs-msg:yaw instead.") + (yaw m)) + +(cl:ensure-generic-function 'pitch-val :lambda-list '(m)) +(cl:defmethod pitch-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:pitch-val is deprecated. Use unitree_legged_msgs-msg:pitch instead.") + (pitch m)) + +(cl:ensure-generic-function 'roll-val :lambda-list '(m)) +(cl:defmethod roll-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:roll-val is deprecated. Use unitree_legged_msgs-msg:roll instead.") + (roll m)) + +(cl:ensure-generic-function 'led-val :lambda-list '(m)) +(cl:defmethod led-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:led-val is deprecated. Use unitree_legged_msgs-msg:led instead.") + (led m)) + +(cl:ensure-generic-function 'wirelessRemote-val :lambda-list '(m)) +(cl:defmethod wirelessRemote-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:wirelessRemote-val is deprecated. Use unitree_legged_msgs-msg:wirelessRemote instead.") + (wirelessRemote m)) + +(cl:ensure-generic-function 'AppRemote-val :lambda-list '(m)) +(cl:defmethod AppRemote-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:AppRemote-val is deprecated. Use unitree_legged_msgs-msg:AppRemote instead.") + (AppRemote m)) + +(cl:ensure-generic-function 'reserve-val :lambda-list '(m)) +(cl:defmethod reserve-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:reserve-val is deprecated. Use unitree_legged_msgs-msg:reserve instead.") + (reserve m)) + +(cl:ensure-generic-function 'crc-val :lambda-list '(m)) +(cl:defmethod crc-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:crc-val is deprecated. Use unitree_legged_msgs-msg:crc instead.") + (crc m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) ostream) + (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'forwardSpeed)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'sideSpeed)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'rotateSpeed)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'bodyHeight)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'footRaiseHeight)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'yaw)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'pitch)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'roll)))) + (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:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'led)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'wirelessRemote)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'AppRemote)) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) ostream) + (cl:let* ((signed (cl:slot-value msg 'crc)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream) + ) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) (cl:read-byte istream)) + (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:slot-value msg 'forwardSpeed) (roslisp-utils:decode-single-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:slot-value msg 'sideSpeed) (roslisp-utils:decode-single-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:slot-value msg 'rotateSpeed) (roslisp-utils:decode-single-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:slot-value msg 'bodyHeight) (roslisp-utils:decode-single-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:slot-value msg 'footRaiseHeight) (roslisp-utils:decode-single-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:slot-value msg 'yaw) (roslisp-utils:decode-single-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:slot-value msg 'pitch) (roslisp-utils:decode-single-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:slot-value msg 'roll) (roslisp-utils:decode-single-float-bits bits))) + (cl:setf (cl:slot-value msg 'led) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'led))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:LED)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'wirelessRemote) (cl:make-array 40)) + (cl:let ((vals (cl:slot-value msg 'wirelessRemote))) + (cl:dotimes (i 40) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)))) + (cl:setf (cl:slot-value msg 'AppRemote) (cl:make-array 40)) + (cl:let ((vals (cl:slot-value msg 'AppRemote))) + (cl:dotimes (i 40) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)))) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'crc) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296)))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/HighCmd") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'HighCmd))) + "Returns string type for a message object of type 'HighCmd" + "unitree_legged_msgs/HighCmd") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "1a655499a3f64905db59ceed65ca774a") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'HighCmd))) + "Returns md5sum for a message object of type 'HighCmd" + "1a655499a3f64905db59ceed65ca774a") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "uint8 levelFlag~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%uint8 mode~%float32 forwardSpeed~%float32 sideSpeed~%float32 rotateSpeed ~%float32 bodyHeight~%float32 footRaiseHeight~%float32 yaw~%float32 pitch~%float32 roll~%LED[4] led~%uint8[40] wirelessRemote~%uint8[40] AppRemote # Old version Aliengo does not have~%uint32 reserve # Old version Aliengo does not have~%int32 crc~%================================================================================~%MSG: unitree_legged_msgs/LED~%uint8 r~%uint8 g~%uint8 b~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'HighCmd))) + "Returns full string definition for message of type 'HighCmd" + (cl:format cl:nil "uint8 levelFlag~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%uint8 mode~%float32 forwardSpeed~%float32 sideSpeed~%float32 rotateSpeed ~%float32 bodyHeight~%float32 footRaiseHeight~%float32 yaw~%float32 pitch~%float32 roll~%LED[4] led~%uint8[40] wirelessRemote~%uint8[40] AppRemote # Old version Aliengo does not have~%uint32 reserve # Old version Aliengo does not have~%int32 crc~%================================================================================~%MSG: unitree_legged_msgs/LED~%uint8 r~%uint8 g~%uint8 b~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 2 + 2 + 4 + 1 + 1 + 4 + 4 + 4 + 4 + 4 + 4 + 4 + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'led) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'wirelessRemote) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'AppRemote) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) + 4 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'HighCmd + (cl:cons ':levelFlag (levelFlag msg)) + (cl:cons ':commVersion (commVersion msg)) + (cl:cons ':robotID (robotID msg)) + (cl:cons ':SN (SN msg)) + (cl:cons ':bandWidth (bandWidth msg)) + (cl:cons ':mode (mode msg)) + (cl:cons ':forwardSpeed (forwardSpeed msg)) + (cl:cons ':sideSpeed (sideSpeed msg)) + (cl:cons ':rotateSpeed (rotateSpeed msg)) + (cl:cons ':bodyHeight (bodyHeight msg)) + (cl:cons ':footRaiseHeight (footRaiseHeight msg)) + (cl:cons ':yaw (yaw msg)) + (cl:cons ':pitch (pitch msg)) + (cl:cons ':roll (roll msg)) + (cl:cons ':led (led msg)) + (cl:cons ':wirelessRemote (wirelessRemote msg)) + (cl:cons ':AppRemote (AppRemote msg)) + (cl:cons ':reserve (reserve msg)) + (cl:cons ':crc (crc msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/HighState.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/HighState.lisp new file mode 100644 index 00000000..8bb116f4 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/HighState.lisp @@ -0,0 +1,529 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude HighState.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((levelFlag + :reader levelFlag + :initarg :levelFlag + :type cl:fixnum + :initform 0) + (commVersion + :reader commVersion + :initarg :commVersion + :type cl:fixnum + :initform 0) + (robotID + :reader robotID + :initarg :robotID + :type cl:fixnum + :initform 0) + (SN + :reader SN + :initarg :SN + :type cl:integer + :initform 0) + (bandWidth + :reader bandWidth + :initarg :bandWidth + :type cl:fixnum + :initform 0) + (mode + :reader mode + :initarg :mode + :type cl:fixnum + :initform 0) + (imu + :reader imu + :initarg :imu + :type unitree_legged_msgs-msg:IMU + :initform (cl:make-instance 'unitree_legged_msgs-msg:IMU)) + (forwardSpeed + :reader forwardSpeed + :initarg :forwardSpeed + :type cl:float + :initform 0.0) + (sideSpeed + :reader sideSpeed + :initarg :sideSpeed + :type cl:float + :initform 0.0) + (rotateSpeed + :reader rotateSpeed + :initarg :rotateSpeed + :type cl:float + :initform 0.0) + (bodyHeight + :reader bodyHeight + :initarg :bodyHeight + :type cl:float + :initform 0.0) + (updownSpeed + :reader updownSpeed + :initarg :updownSpeed + :type cl:float + :initform 0.0) + (forwardPosition + :reader forwardPosition + :initarg :forwardPosition + :type cl:float + :initform 0.0) + (sidePosition + :reader sidePosition + :initarg :sidePosition + :type cl:float + :initform 0.0) + (footPosition2Body + :reader footPosition2Body + :initarg :footPosition2Body + :type (cl:vector unitree_legged_msgs-msg:Cartesian) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:Cartesian :initial-element (cl:make-instance 'unitree_legged_msgs-msg:Cartesian))) + (footSpeed2Body + :reader footSpeed2Body + :initarg :footSpeed2Body + :type (cl:vector unitree_legged_msgs-msg:Cartesian) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:Cartesian :initial-element (cl:make-instance 'unitree_legged_msgs-msg:Cartesian))) + (footForce + :reader footForce + :initarg :footForce + :type (cl:vector cl:fixnum) + :initform (cl:make-array 4 :element-type 'cl:fixnum :initial-element 0)) + (footForceEst + :reader footForceEst + :initarg :footForceEst + :type (cl:vector cl:fixnum) + :initform (cl:make-array 4 :element-type 'cl:fixnum :initial-element 0)) + (tick + :reader tick + :initarg :tick + :type cl:integer + :initform 0) + (wirelessRemote + :reader wirelessRemote + :initarg :wirelessRemote + :type (cl:vector cl:fixnum) + :initform (cl:make-array 40 :element-type 'cl:fixnum :initial-element 0)) + (reserve + :reader reserve + :initarg :reserve + :type cl:integer + :initform 0) + (crc + :reader crc + :initarg :crc + :type cl:integer + :initform 0) + (eeForce + :reader eeForce + :initarg :eeForce + :type (cl:vector unitree_legged_msgs-msg:Cartesian) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:Cartesian :initial-element (cl:make-instance 'unitree_legged_msgs-msg:Cartesian))) + (jointP + :reader jointP + :initarg :jointP + :type (cl:vector cl:float) + :initform (cl:make-array 12 :element-type 'cl:float :initial-element 0.0))) +) + +(cl:defclass HighState () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'HighState) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:HighState instead."))) + +(cl:ensure-generic-function 'levelFlag-val :lambda-list '(m)) +(cl:defmethod levelFlag-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:levelFlag-val is deprecated. Use unitree_legged_msgs-msg:levelFlag instead.") + (levelFlag m)) + +(cl:ensure-generic-function 'commVersion-val :lambda-list '(m)) +(cl:defmethod commVersion-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:commVersion-val is deprecated. Use unitree_legged_msgs-msg:commVersion instead.") + (commVersion m)) + +(cl:ensure-generic-function 'robotID-val :lambda-list '(m)) +(cl:defmethod robotID-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:robotID-val is deprecated. Use unitree_legged_msgs-msg:robotID instead.") + (robotID m)) + +(cl:ensure-generic-function 'SN-val :lambda-list '(m)) +(cl:defmethod SN-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:SN-val is deprecated. Use unitree_legged_msgs-msg:SN instead.") + (SN m)) + +(cl:ensure-generic-function 'bandWidth-val :lambda-list '(m)) +(cl:defmethod bandWidth-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:bandWidth-val is deprecated. Use unitree_legged_msgs-msg:bandWidth instead.") + (bandWidth m)) + +(cl:ensure-generic-function 'mode-val :lambda-list '(m)) +(cl:defmethod mode-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:mode-val is deprecated. Use unitree_legged_msgs-msg:mode instead.") + (mode m)) + +(cl:ensure-generic-function 'imu-val :lambda-list '(m)) +(cl:defmethod imu-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:imu-val is deprecated. Use unitree_legged_msgs-msg:imu instead.") + (imu m)) + +(cl:ensure-generic-function 'forwardSpeed-val :lambda-list '(m)) +(cl:defmethod forwardSpeed-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:forwardSpeed-val is deprecated. Use unitree_legged_msgs-msg:forwardSpeed instead.") + (forwardSpeed m)) + +(cl:ensure-generic-function 'sideSpeed-val :lambda-list '(m)) +(cl:defmethod sideSpeed-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:sideSpeed-val is deprecated. Use unitree_legged_msgs-msg:sideSpeed instead.") + (sideSpeed m)) + +(cl:ensure-generic-function 'rotateSpeed-val :lambda-list '(m)) +(cl:defmethod rotateSpeed-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:rotateSpeed-val is deprecated. Use unitree_legged_msgs-msg:rotateSpeed instead.") + (rotateSpeed m)) + +(cl:ensure-generic-function 'bodyHeight-val :lambda-list '(m)) +(cl:defmethod bodyHeight-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:bodyHeight-val is deprecated. Use unitree_legged_msgs-msg:bodyHeight instead.") + (bodyHeight m)) + +(cl:ensure-generic-function 'updownSpeed-val :lambda-list '(m)) +(cl:defmethod updownSpeed-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:updownSpeed-val is deprecated. Use unitree_legged_msgs-msg:updownSpeed instead.") + (updownSpeed m)) + +(cl:ensure-generic-function 'forwardPosition-val :lambda-list '(m)) +(cl:defmethod forwardPosition-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:forwardPosition-val is deprecated. Use unitree_legged_msgs-msg:forwardPosition instead.") + (forwardPosition m)) + +(cl:ensure-generic-function 'sidePosition-val :lambda-list '(m)) +(cl:defmethod sidePosition-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:sidePosition-val is deprecated. Use unitree_legged_msgs-msg:sidePosition instead.") + (sidePosition m)) + +(cl:ensure-generic-function 'footPosition2Body-val :lambda-list '(m)) +(cl:defmethod footPosition2Body-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:footPosition2Body-val is deprecated. Use unitree_legged_msgs-msg:footPosition2Body instead.") + (footPosition2Body m)) + +(cl:ensure-generic-function 'footSpeed2Body-val :lambda-list '(m)) +(cl:defmethod footSpeed2Body-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:footSpeed2Body-val is deprecated. Use unitree_legged_msgs-msg:footSpeed2Body instead.") + (footSpeed2Body m)) + +(cl:ensure-generic-function 'footForce-val :lambda-list '(m)) +(cl:defmethod footForce-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:footForce-val is deprecated. Use unitree_legged_msgs-msg:footForce instead.") + (footForce m)) + +(cl:ensure-generic-function 'footForceEst-val :lambda-list '(m)) +(cl:defmethod footForceEst-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:footForceEst-val is deprecated. Use unitree_legged_msgs-msg:footForceEst instead.") + (footForceEst m)) + +(cl:ensure-generic-function 'tick-val :lambda-list '(m)) +(cl:defmethod tick-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:tick-val is deprecated. Use unitree_legged_msgs-msg:tick instead.") + (tick m)) + +(cl:ensure-generic-function 'wirelessRemote-val :lambda-list '(m)) +(cl:defmethod wirelessRemote-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:wirelessRemote-val is deprecated. Use unitree_legged_msgs-msg:wirelessRemote instead.") + (wirelessRemote m)) + +(cl:ensure-generic-function 'reserve-val :lambda-list '(m)) +(cl:defmethod reserve-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:reserve-val is deprecated. Use unitree_legged_msgs-msg:reserve instead.") + (reserve m)) + +(cl:ensure-generic-function 'crc-val :lambda-list '(m)) +(cl:defmethod crc-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:crc-val is deprecated. Use unitree_legged_msgs-msg:crc instead.") + (crc m)) + +(cl:ensure-generic-function 'eeForce-val :lambda-list '(m)) +(cl:defmethod eeForce-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:eeForce-val is deprecated. Use unitree_legged_msgs-msg:eeForce instead.") + (eeForce m)) + +(cl:ensure-generic-function 'jointP-val :lambda-list '(m)) +(cl:defmethod jointP-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:jointP-val is deprecated. Use unitree_legged_msgs-msg:jointP instead.") + (jointP m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'imu) ostream) + (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'forwardSpeed)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'sideSpeed)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'rotateSpeed)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'bodyHeight)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'updownSpeed)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'forwardPosition)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'sidePosition)))) + (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:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'footPosition2Body)) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'footSpeed2Body)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 65536) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + )) + (cl:slot-value msg 'footForce)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 65536) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + )) + (cl:slot-value msg 'footForceEst)) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tick)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'tick)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'tick)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'tick)) ostream) + (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'wirelessRemote)) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'crc)) ostream) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'eeForce)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-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:slot-value msg 'jointP)) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) (cl:read-byte istream)) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'imu) istream) + (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:slot-value msg 'forwardSpeed) (roslisp-utils:decode-single-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:slot-value msg 'sideSpeed) (roslisp-utils:decode-single-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:slot-value msg 'rotateSpeed) (roslisp-utils:decode-single-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:slot-value msg 'bodyHeight) (roslisp-utils:decode-single-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:slot-value msg 'updownSpeed) (roslisp-utils:decode-single-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:slot-value msg 'forwardPosition) (roslisp-utils:decode-single-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:slot-value msg 'sidePosition) (roslisp-utils:decode-single-float-bits bits))) + (cl:setf (cl:slot-value msg 'footPosition2Body) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'footPosition2Body))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'footSpeed2Body) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'footSpeed2Body))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'footForce) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'footForce))) + (cl:dotimes (i 4) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 32768) unsigned (cl:- unsigned 65536)))))) + (cl:setf (cl:slot-value msg 'footForceEst) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'footForceEst))) + (cl:dotimes (i 4) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 32768) unsigned (cl:- unsigned 65536)))))) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'wirelessRemote) (cl:make-array 40)) + (cl:let ((vals (cl:slot-value msg 'wirelessRemote))) + (cl:dotimes (i 40) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)))) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'eeForce) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'eeForce))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'jointP) (cl:make-array 12)) + (cl:let ((vals (cl:slot-value msg 'jointP))) + (cl:dotimes (i 12) + (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:aref vals i) (roslisp-utils:decode-single-float-bits bits))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/HighState") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'HighState))) + "Returns string type for a message object of type 'HighState" + "unitree_legged_msgs/HighState") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "a12e8b22df896c82203810ec6d521dad") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'HighState))) + "Returns md5sum for a message object of type 'HighState" + "a12e8b22df896c82203810ec6d521dad") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "uint8 levelFlag~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%uint8 mode~%IMU imu~%float32 forwardSpeed~%float32 sideSpeed~%float32 rotateSpeed~%float32 bodyHeight~%float32 updownSpeed~%float32 forwardPosition # (will be float type next version) # Old version Aliengo is different~%float32 sidePosition # (will be float type next version) # Old version Aliengo is different~%Cartesian[4] footPosition2Body~%Cartesian[4] footSpeed2Body~%int16[4] footForce # Old version Aliengo is different~%int16[4] footForceEst # Old version Aliengo does not have~%uint32 tick ~%uint8[40] wirelessRemote~%uint32 reserve # Old version Aliengo does not have~%uint32 crc~%~%# Under are not defined in SDK yet. # Old version Aliengo does not have~%Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.~%float32[12] jointP # for visualization~%================================================================================~%MSG: unitree_legged_msgs/IMU~%float32[4] quaternion~%float32[3] gyroscope~%float32[3] accelerometer~%int8 temperature~%================================================================================~%MSG: unitree_legged_msgs/Cartesian~%float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'HighState))) + "Returns full string definition for message of type 'HighState" + (cl:format cl:nil "uint8 levelFlag~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%uint8 mode~%IMU imu~%float32 forwardSpeed~%float32 sideSpeed~%float32 rotateSpeed~%float32 bodyHeight~%float32 updownSpeed~%float32 forwardPosition # (will be float type next version) # Old version Aliengo is different~%float32 sidePosition # (will be float type next version) # Old version Aliengo is different~%Cartesian[4] footPosition2Body~%Cartesian[4] footSpeed2Body~%int16[4] footForce # Old version Aliengo is different~%int16[4] footForceEst # Old version Aliengo does not have~%uint32 tick ~%uint8[40] wirelessRemote~%uint32 reserve # Old version Aliengo does not have~%uint32 crc~%~%# Under are not defined in SDK yet. # Old version Aliengo does not have~%Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization.~%float32[12] jointP # for visualization~%================================================================================~%MSG: unitree_legged_msgs/IMU~%float32[4] quaternion~%float32[3] gyroscope~%float32[3] accelerometer~%int8 temperature~%================================================================================~%MSG: unitree_legged_msgs/Cartesian~%float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 2 + 2 + 4 + 1 + 1 + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'imu)) + 4 + 4 + 4 + 4 + 4 + 4 + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'footPosition2Body) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'footSpeed2Body) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'footForce) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'footForceEst) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'wirelessRemote) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) + 4 + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'eeForce) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'jointP) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'HighState + (cl:cons ':levelFlag (levelFlag msg)) + (cl:cons ':commVersion (commVersion msg)) + (cl:cons ':robotID (robotID msg)) + (cl:cons ':SN (SN msg)) + (cl:cons ':bandWidth (bandWidth msg)) + (cl:cons ':mode (mode msg)) + (cl:cons ':imu (imu msg)) + (cl:cons ':forwardSpeed (forwardSpeed msg)) + (cl:cons ':sideSpeed (sideSpeed msg)) + (cl:cons ':rotateSpeed (rotateSpeed msg)) + (cl:cons ':bodyHeight (bodyHeight msg)) + (cl:cons ':updownSpeed (updownSpeed msg)) + (cl:cons ':forwardPosition (forwardPosition msg)) + (cl:cons ':sidePosition (sidePosition msg)) + (cl:cons ':footPosition2Body (footPosition2Body msg)) + (cl:cons ':footSpeed2Body (footSpeed2Body msg)) + (cl:cons ':footForce (footForce msg)) + (cl:cons ':footForceEst (footForceEst msg)) + (cl:cons ':tick (tick msg)) + (cl:cons ':wirelessRemote (wirelessRemote msg)) + (cl:cons ':reserve (reserve msg)) + (cl:cons ':crc (crc msg)) + (cl:cons ':eeForce (eeForce msg)) + (cl:cons ':jointP (jointP msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/IMU.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/IMU.lisp new file mode 100644 index 00000000..6c0ef1fe --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/IMU.lisp @@ -0,0 +1,149 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude IMU.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((quaternion + :reader quaternion + :initarg :quaternion + :type (cl:vector cl:float) + :initform (cl:make-array 4 :element-type 'cl:float :initial-element 0.0)) + (gyroscope + :reader gyroscope + :initarg :gyroscope + :type (cl:vector cl:float) + :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0)) + (accelerometer + :reader accelerometer + :initarg :accelerometer + :type (cl:vector cl:float) + :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0)) + (temperature + :reader temperature + :initarg :temperature + :type cl:fixnum + :initform 0)) +) + +(cl:defclass IMU () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'IMU) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:IMU instead."))) + +(cl:ensure-generic-function 'quaternion-val :lambda-list '(m)) +(cl:defmethod quaternion-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:quaternion-val is deprecated. Use unitree_legged_msgs-msg:quaternion instead.") + (quaternion m)) + +(cl:ensure-generic-function 'gyroscope-val :lambda-list '(m)) +(cl:defmethod gyroscope-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:gyroscope-val is deprecated. Use unitree_legged_msgs-msg:gyroscope instead.") + (gyroscope m)) + +(cl:ensure-generic-function 'accelerometer-val :lambda-list '(m)) +(cl:defmethod accelerometer-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:accelerometer-val is deprecated. Use unitree_legged_msgs-msg:accelerometer instead.") + (accelerometer m)) + +(cl:ensure-generic-function 'temperature-val :lambda-list '(m)) +(cl:defmethod temperature-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:temperature-val is deprecated. Use unitree_legged_msgs-msg:temperature instead.") + (temperature m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-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:slot-value msg 'quaternion)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-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:slot-value msg 'gyroscope)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-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:slot-value msg 'accelerometer)) + (cl:let* ((signed (cl:slot-value msg 'temperature)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + ) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:slot-value msg 'quaternion) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'quaternion))) + (cl:dotimes (i 4) + (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:aref vals i) (roslisp-utils:decode-single-float-bits bits))))) + (cl:setf (cl:slot-value msg 'gyroscope) (cl:make-array 3)) + (cl:let ((vals (cl:slot-value msg 'gyroscope))) + (cl:dotimes (i 3) + (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:aref vals i) (roslisp-utils:decode-single-float-bits bits))))) + (cl:setf (cl:slot-value msg 'accelerometer) (cl:make-array 3)) + (cl:let ((vals (cl:slot-value msg 'accelerometer))) + (cl:dotimes (i 3) + (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:aref vals i) (roslisp-utils:decode-single-float-bits bits))))) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'temperature) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256)))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/IMU") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'IMU))) + "Returns string type for a message object of type 'IMU" + "unitree_legged_msgs/IMU") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "dd4bb4e42aa2f15aa1fb1b6a3c3752cb") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'IMU))) + "Returns md5sum for a message object of type 'IMU" + "dd4bb4e42aa2f15aa1fb1b6a3c3752cb") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "float32[4] quaternion~%float32[3] gyroscope~%float32[3] accelerometer~%int8 temperature~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'IMU))) + "Returns full string definition for message of type 'IMU" + (cl:format cl:nil "float32[4] quaternion~%float32[3] gyroscope~%float32[3] accelerometer~%int8 temperature~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'quaternion) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'gyroscope) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'accelerometer) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'IMU + (cl:cons ':quaternion (quaternion msg)) + (cl:cons ':gyroscope (gyroscope msg)) + (cl:cons ':accelerometer (accelerometer msg)) + (cl:cons ':temperature (temperature msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LED.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LED.lisp new file mode 100644 index 00000000..f86e1cf4 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LED.lisp @@ -0,0 +1,92 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude LED.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((r + :reader r + :initarg :r + :type cl:fixnum + :initform 0) + (g + :reader g + :initarg :g + :type cl:fixnum + :initform 0) + (b + :reader b + :initarg :b + :type cl:fixnum + :initform 0)) +) + +(cl:defclass LED () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'LED) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:LED instead."))) + +(cl:ensure-generic-function 'r-val :lambda-list '(m)) +(cl:defmethod r-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:r-val is deprecated. Use unitree_legged_msgs-msg:r instead.") + (r m)) + +(cl:ensure-generic-function 'g-val :lambda-list '(m)) +(cl:defmethod g-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:g-val is deprecated. Use unitree_legged_msgs-msg:g instead.") + (g m)) + +(cl:ensure-generic-function 'b-val :lambda-list '(m)) +(cl:defmethod b-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:b-val is deprecated. Use unitree_legged_msgs-msg:b instead.") + (b m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'r)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'g)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'b)) ostream) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'r)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'g)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'b)) (cl:read-byte istream)) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/LED") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'LED))) + "Returns string type for a message object of type 'LED" + "unitree_legged_msgs/LED") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "353891e354491c51aabe32df673fb446") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'LED))) + "Returns md5sum for a message object of type 'LED" + "353891e354491c51aabe32df673fb446") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "uint8 r~%uint8 g~%uint8 b~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'LED))) + "Returns full string definition for message of type 'LED" + (cl:format cl:nil "uint8 r~%uint8 g~%uint8 b~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 1 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'LED + (cl:cons ':r (r msg)) + (cl:cons ':g (g msg)) + (cl:cons ':b (b msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LowCmd.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LowCmd.lisp new file mode 100644 index 00000000..f0e0f0c7 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LowCmd.lisp @@ -0,0 +1,245 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude LowCmd.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((levelFlag + :reader levelFlag + :initarg :levelFlag + :type cl:fixnum + :initform 0) + (commVersion + :reader commVersion + :initarg :commVersion + :type cl:fixnum + :initform 0) + (robotID + :reader robotID + :initarg :robotID + :type cl:fixnum + :initform 0) + (SN + :reader SN + :initarg :SN + :type cl:integer + :initform 0) + (bandWidth + :reader bandWidth + :initarg :bandWidth + :type cl:fixnum + :initform 0) + (motorCmd + :reader motorCmd + :initarg :motorCmd + :type (cl:vector unitree_legged_msgs-msg:MotorCmd) + :initform (cl:make-array 20 :element-type 'unitree_legged_msgs-msg:MotorCmd :initial-element (cl:make-instance 'unitree_legged_msgs-msg:MotorCmd))) + (led + :reader led + :initarg :led + :type (cl:vector unitree_legged_msgs-msg:LED) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:LED :initial-element (cl:make-instance 'unitree_legged_msgs-msg:LED))) + (wirelessRemote + :reader wirelessRemote + :initarg :wirelessRemote + :type (cl:vector cl:fixnum) + :initform (cl:make-array 40 :element-type 'cl:fixnum :initial-element 0)) + (reserve + :reader reserve + :initarg :reserve + :type cl:integer + :initform 0) + (crc + :reader crc + :initarg :crc + :type cl:integer + :initform 0) + (ff + :reader ff + :initarg :ff + :type (cl:vector unitree_legged_msgs-msg:Cartesian) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:Cartesian :initial-element (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)))) +) + +(cl:defclass LowCmd () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'LowCmd) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:LowCmd instead."))) + +(cl:ensure-generic-function 'levelFlag-val :lambda-list '(m)) +(cl:defmethod levelFlag-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:levelFlag-val is deprecated. Use unitree_legged_msgs-msg:levelFlag instead.") + (levelFlag m)) + +(cl:ensure-generic-function 'commVersion-val :lambda-list '(m)) +(cl:defmethod commVersion-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:commVersion-val is deprecated. Use unitree_legged_msgs-msg:commVersion instead.") + (commVersion m)) + +(cl:ensure-generic-function 'robotID-val :lambda-list '(m)) +(cl:defmethod robotID-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:robotID-val is deprecated. Use unitree_legged_msgs-msg:robotID instead.") + (robotID m)) + +(cl:ensure-generic-function 'SN-val :lambda-list '(m)) +(cl:defmethod SN-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:SN-val is deprecated. Use unitree_legged_msgs-msg:SN instead.") + (SN m)) + +(cl:ensure-generic-function 'bandWidth-val :lambda-list '(m)) +(cl:defmethod bandWidth-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:bandWidth-val is deprecated. Use unitree_legged_msgs-msg:bandWidth instead.") + (bandWidth m)) + +(cl:ensure-generic-function 'motorCmd-val :lambda-list '(m)) +(cl:defmethod motorCmd-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:motorCmd-val is deprecated. Use unitree_legged_msgs-msg:motorCmd instead.") + (motorCmd m)) + +(cl:ensure-generic-function 'led-val :lambda-list '(m)) +(cl:defmethod led-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:led-val is deprecated. Use unitree_legged_msgs-msg:led instead.") + (led m)) + +(cl:ensure-generic-function 'wirelessRemote-val :lambda-list '(m)) +(cl:defmethod wirelessRemote-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:wirelessRemote-val is deprecated. Use unitree_legged_msgs-msg:wirelessRemote instead.") + (wirelessRemote m)) + +(cl:ensure-generic-function 'reserve-val :lambda-list '(m)) +(cl:defmethod reserve-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:reserve-val is deprecated. Use unitree_legged_msgs-msg:reserve instead.") + (reserve m)) + +(cl:ensure-generic-function 'crc-val :lambda-list '(m)) +(cl:defmethod crc-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:crc-val is deprecated. Use unitree_legged_msgs-msg:crc instead.") + (crc m)) + +(cl:ensure-generic-function 'ff-val :lambda-list '(m)) +(cl:defmethod ff-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:ff-val is deprecated. Use unitree_legged_msgs-msg:ff instead.") + (ff m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) ostream) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'motorCmd)) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'led)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'wirelessRemote)) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'crc)) ostream) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'ff)) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'motorCmd) (cl:make-array 20)) + (cl:let ((vals (cl:slot-value msg 'motorCmd))) + (cl:dotimes (i 20) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:MotorCmd)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'led) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'led))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:LED)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'wirelessRemote) (cl:make-array 40)) + (cl:let ((vals (cl:slot-value msg 'wirelessRemote))) + (cl:dotimes (i 40) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)))) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'ff) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'ff))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/LowCmd") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'LowCmd))) + "Returns string type for a message object of type 'LowCmd" + "unitree_legged_msgs/LowCmd") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "357432b2562edd0a8e89b9c9f5fc4821") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'LowCmd))) + "Returns md5sum for a message object of type 'LowCmd" + "357432b2562edd0a8e89b9c9f5fc4821") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "uint8 levelFlag ~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%MotorCmd[20] motorCmd~%LED[4] led~%uint8[40] wirelessRemote~%uint32 reserve # Old version Aliengo does not have~%uint32 crc~%~%Cartesian[4] ff # will delete # Old version Aliengo does not have~%================================================================================~%MSG: unitree_legged_msgs/MotorCmd~%uint8 mode # motor target mode~%float32 q # motor target position~%float32 dq # motor target velocity~%float32 tau # motor target torque~%float32 Kp # motor spring stiffness coefficient~%float32 Kd # motor damper coefficient~%uint32[3] reserve # motor target torque~%================================================================================~%MSG: unitree_legged_msgs/LED~%uint8 r~%uint8 g~%uint8 b~%================================================================================~%MSG: unitree_legged_msgs/Cartesian~%float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'LowCmd))) + "Returns full string definition for message of type 'LowCmd" + (cl:format cl:nil "uint8 levelFlag ~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%MotorCmd[20] motorCmd~%LED[4] led~%uint8[40] wirelessRemote~%uint32 reserve # Old version Aliengo does not have~%uint32 crc~%~%Cartesian[4] ff # will delete # Old version Aliengo does not have~%================================================================================~%MSG: unitree_legged_msgs/MotorCmd~%uint8 mode # motor target mode~%float32 q # motor target position~%float32 dq # motor target velocity~%float32 tau # motor target torque~%float32 Kp # motor spring stiffness coefficient~%float32 Kd # motor damper coefficient~%uint32[3] reserve # motor target torque~%================================================================================~%MSG: unitree_legged_msgs/LED~%uint8 r~%uint8 g~%uint8 b~%================================================================================~%MSG: unitree_legged_msgs/Cartesian~%float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 2 + 2 + 4 + 1 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'motorCmd) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'led) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'wirelessRemote) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) + 4 + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'ff) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'LowCmd + (cl:cons ':levelFlag (levelFlag msg)) + (cl:cons ':commVersion (commVersion msg)) + (cl:cons ':robotID (robotID msg)) + (cl:cons ':SN (SN msg)) + (cl:cons ':bandWidth (bandWidth msg)) + (cl:cons ':motorCmd (motorCmd msg)) + (cl:cons ':led (led msg)) + (cl:cons ':wirelessRemote (wirelessRemote msg)) + (cl:cons ':reserve (reserve msg)) + (cl:cons ':crc (crc msg)) + (cl:cons ':ff (ff msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LowState.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LowState.lisp new file mode 100644 index 00000000..0af76462 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/LowState.lisp @@ -0,0 +1,369 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude LowState.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((levelFlag + :reader levelFlag + :initarg :levelFlag + :type cl:fixnum + :initform 0) + (commVersion + :reader commVersion + :initarg :commVersion + :type cl:fixnum + :initform 0) + (robotID + :reader robotID + :initarg :robotID + :type cl:fixnum + :initform 0) + (SN + :reader SN + :initarg :SN + :type cl:integer + :initform 0) + (bandWidth + :reader bandWidth + :initarg :bandWidth + :type cl:fixnum + :initform 0) + (imu + :reader imu + :initarg :imu + :type unitree_legged_msgs-msg:IMU + :initform (cl:make-instance 'unitree_legged_msgs-msg:IMU)) + (motorState + :reader motorState + :initarg :motorState + :type (cl:vector unitree_legged_msgs-msg:MotorState) + :initform (cl:make-array 20 :element-type 'unitree_legged_msgs-msg:MotorState :initial-element (cl:make-instance 'unitree_legged_msgs-msg:MotorState))) + (footForce + :reader footForce + :initarg :footForce + :type (cl:vector cl:fixnum) + :initform (cl:make-array 4 :element-type 'cl:fixnum :initial-element 0)) + (footForceEst + :reader footForceEst + :initarg :footForceEst + :type (cl:vector cl:fixnum) + :initform (cl:make-array 4 :element-type 'cl:fixnum :initial-element 0)) + (tick + :reader tick + :initarg :tick + :type cl:integer + :initform 0) + (wirelessRemote + :reader wirelessRemote + :initarg :wirelessRemote + :type (cl:vector cl:fixnum) + :initform (cl:make-array 40 :element-type 'cl:fixnum :initial-element 0)) + (reserve + :reader reserve + :initarg :reserve + :type cl:integer + :initform 0) + (crc + :reader crc + :initarg :crc + :type cl:integer + :initform 0) + (eeForceRaw + :reader eeForceRaw + :initarg :eeForceRaw + :type (cl:vector unitree_legged_msgs-msg:Cartesian) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:Cartesian :initial-element (cl:make-instance 'unitree_legged_msgs-msg:Cartesian))) + (eeForce + :reader eeForce + :initarg :eeForce + :type (cl:vector unitree_legged_msgs-msg:Cartesian) + :initform (cl:make-array 4 :element-type 'unitree_legged_msgs-msg:Cartesian :initial-element (cl:make-instance 'unitree_legged_msgs-msg:Cartesian))) + (position + :reader position + :initarg :position + :type unitree_legged_msgs-msg:Cartesian + :initform (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (velocity + :reader velocity + :initarg :velocity + :type unitree_legged_msgs-msg:Cartesian + :initform (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (velocity_w + :reader velocity_w + :initarg :velocity_w + :type unitree_legged_msgs-msg:Cartesian + :initform (cl:make-instance 'unitree_legged_msgs-msg:Cartesian))) +) + +(cl:defclass LowState () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'LowState) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:LowState instead."))) + +(cl:ensure-generic-function 'levelFlag-val :lambda-list '(m)) +(cl:defmethod levelFlag-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:levelFlag-val is deprecated. Use unitree_legged_msgs-msg:levelFlag instead.") + (levelFlag m)) + +(cl:ensure-generic-function 'commVersion-val :lambda-list '(m)) +(cl:defmethod commVersion-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:commVersion-val is deprecated. Use unitree_legged_msgs-msg:commVersion instead.") + (commVersion m)) + +(cl:ensure-generic-function 'robotID-val :lambda-list '(m)) +(cl:defmethod robotID-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:robotID-val is deprecated. Use unitree_legged_msgs-msg:robotID instead.") + (robotID m)) + +(cl:ensure-generic-function 'SN-val :lambda-list '(m)) +(cl:defmethod SN-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:SN-val is deprecated. Use unitree_legged_msgs-msg:SN instead.") + (SN m)) + +(cl:ensure-generic-function 'bandWidth-val :lambda-list '(m)) +(cl:defmethod bandWidth-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:bandWidth-val is deprecated. Use unitree_legged_msgs-msg:bandWidth instead.") + (bandWidth m)) + +(cl:ensure-generic-function 'imu-val :lambda-list '(m)) +(cl:defmethod imu-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:imu-val is deprecated. Use unitree_legged_msgs-msg:imu instead.") + (imu m)) + +(cl:ensure-generic-function 'motorState-val :lambda-list '(m)) +(cl:defmethod motorState-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:motorState-val is deprecated. Use unitree_legged_msgs-msg:motorState instead.") + (motorState m)) + +(cl:ensure-generic-function 'footForce-val :lambda-list '(m)) +(cl:defmethod footForce-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:footForce-val is deprecated. Use unitree_legged_msgs-msg:footForce instead.") + (footForce m)) + +(cl:ensure-generic-function 'footForceEst-val :lambda-list '(m)) +(cl:defmethod footForceEst-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:footForceEst-val is deprecated. Use unitree_legged_msgs-msg:footForceEst instead.") + (footForceEst m)) + +(cl:ensure-generic-function 'tick-val :lambda-list '(m)) +(cl:defmethod tick-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:tick-val is deprecated. Use unitree_legged_msgs-msg:tick instead.") + (tick m)) + +(cl:ensure-generic-function 'wirelessRemote-val :lambda-list '(m)) +(cl:defmethod wirelessRemote-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:wirelessRemote-val is deprecated. Use unitree_legged_msgs-msg:wirelessRemote instead.") + (wirelessRemote m)) + +(cl:ensure-generic-function 'reserve-val :lambda-list '(m)) +(cl:defmethod reserve-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:reserve-val is deprecated. Use unitree_legged_msgs-msg:reserve instead.") + (reserve m)) + +(cl:ensure-generic-function 'crc-val :lambda-list '(m)) +(cl:defmethod crc-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:crc-val is deprecated. Use unitree_legged_msgs-msg:crc instead.") + (crc m)) + +(cl:ensure-generic-function 'eeForceRaw-val :lambda-list '(m)) +(cl:defmethod eeForceRaw-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:eeForceRaw-val is deprecated. Use unitree_legged_msgs-msg:eeForceRaw instead.") + (eeForceRaw m)) + +(cl:ensure-generic-function 'eeForce-val :lambda-list '(m)) +(cl:defmethod eeForce-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:eeForce-val is deprecated. Use unitree_legged_msgs-msg:eeForce instead.") + (eeForce m)) + +(cl:ensure-generic-function 'position-val :lambda-list '(m)) +(cl:defmethod position-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:position-val is deprecated. Use unitree_legged_msgs-msg:position instead.") + (position m)) + +(cl:ensure-generic-function 'velocity-val :lambda-list '(m)) +(cl:defmethod velocity-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:velocity-val is deprecated. Use unitree_legged_msgs-msg:velocity instead.") + (velocity m)) + +(cl:ensure-generic-function 'velocity_w-val :lambda-list '(m)) +(cl:defmethod velocity_w-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:velocity_w-val is deprecated. Use unitree_legged_msgs-msg:velocity_w instead.") + (velocity_w m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'imu) ostream) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'motorState)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 65536) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + )) + (cl:slot-value msg 'footForce)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 65536) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + )) + (cl:slot-value msg 'footForceEst)) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tick)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'tick)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'tick)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'tick)) ostream) + (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'wirelessRemote)) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'crc)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'crc)) ostream) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'eeForceRaw)) + (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream)) + (cl:slot-value msg 'eeForce)) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'position) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'velocity) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'velocity_w) ostream) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'levelFlag)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'commVersion)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'robotID)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'SN)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'bandWidth)) (cl:read-byte istream)) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'imu) istream) + (cl:setf (cl:slot-value msg 'motorState) (cl:make-array 20)) + (cl:let ((vals (cl:slot-value msg 'motorState))) + (cl:dotimes (i 20) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:MotorState)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'footForce) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'footForce))) + (cl:dotimes (i 4) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 32768) unsigned (cl:- unsigned 65536)))))) + (cl:setf (cl:slot-value msg 'footForceEst) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'footForceEst))) + (cl:dotimes (i 4) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 32768) unsigned (cl:- unsigned 65536)))))) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'tick)) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'wirelessRemote) (cl:make-array 40)) + (cl:let ((vals (cl:slot-value msg 'wirelessRemote))) + (cl:dotimes (i 40) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)))) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'reserve)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'crc)) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'eeForceRaw) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'eeForceRaw))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (cl:setf (cl:slot-value msg 'eeForce) (cl:make-array 4)) + (cl:let ((vals (cl:slot-value msg 'eeForce))) + (cl:dotimes (i 4) + (cl:setf (cl:aref vals i) (cl:make-instance 'unitree_legged_msgs-msg:Cartesian)) + (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'position) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'velocity) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'velocity_w) istream) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/LowState") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'LowState))) + "Returns string type for a message object of type 'LowState" + "unitree_legged_msgs/LowState") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "cef9d4f6b5a89bd6330896affb1bca88") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'LowState))) + "Returns md5sum for a message object of type 'LowState" + "cef9d4f6b5a89bd6330896affb1bca88") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "uint8 levelFlag~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%IMU imu~%MotorState[20] motorState~%int16[4] footForce # force sensors # Old version Aliengo is different~%int16[4] footForceEst # force sensors # Old version Aliengo does not have~%uint32 tick # reference real-time from motion controller (unit: us)~%uint8[40] wirelessRemote # wireless commands~%uint32 reserve # Old version Aliengo does not have~%uint32 crc~%~%# Old version Aliengo does not have:~%Cartesian[4] eeForceRaw~%Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization ~%Cartesian position # will delete~%Cartesian velocity # will delete~%Cartesian velocity_w # will delete~%~%================================================================================~%MSG: unitree_legged_msgs/IMU~%float32[4] quaternion~%float32[3] gyroscope~%float32[3] accelerometer~%int8 temperature~%================================================================================~%MSG: unitree_legged_msgs/MotorState~%uint8 mode # motor current mode ~%float32 q # motor current position（rad）~%float32 dq # motor current speed（rad/s）~%float32 ddq # motor current speed（rad/s）~%float32 tauEst # current estimated output torque（N*m）~%float32 q_raw # motor current position（rad）~%float32 dq_raw # motor current speed（rad/s）~%float32 ddq_raw # motor current speed（rad/s）~%int8 temperature # motor temperature（slow conduction of temperature leads to lag）~%uint32[2] reserve~%================================================================================~%MSG: unitree_legged_msgs/Cartesian~%float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'LowState))) + "Returns full string definition for message of type 'LowState" + (cl:format cl:nil "uint8 levelFlag~%uint16 commVersion # Old version Aliengo does not have~%uint16 robotID # Old version Aliengo does not have~%uint32 SN # Old version Aliengo does not have~%uint8 bandWidth # Old version Aliengo does not have~%IMU imu~%MotorState[20] motorState~%int16[4] footForce # force sensors # Old version Aliengo is different~%int16[4] footForceEst # force sensors # Old version Aliengo does not have~%uint32 tick # reference real-time from motion controller (unit: us)~%uint8[40] wirelessRemote # wireless commands~%uint32 reserve # Old version Aliengo does not have~%uint32 crc~%~%# Old version Aliengo does not have:~%Cartesian[4] eeForceRaw~%Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization ~%Cartesian position # will delete~%Cartesian velocity # will delete~%Cartesian velocity_w # will delete~%~%================================================================================~%MSG: unitree_legged_msgs/IMU~%float32[4] quaternion~%float32[3] gyroscope~%float32[3] accelerometer~%int8 temperature~%================================================================================~%MSG: unitree_legged_msgs/MotorState~%uint8 mode # motor current mode ~%float32 q # motor current position（rad）~%float32 dq # motor current speed（rad/s）~%float32 ddq # motor current speed（rad/s）~%float32 tauEst # current estimated output torque（N*m）~%float32 q_raw # motor current position（rad）~%float32 dq_raw # motor current speed（rad/s）~%float32 ddq_raw # motor current speed（rad/s）~%int8 temperature # motor temperature（slow conduction of temperature leads to lag）~%uint32[2] reserve~%================================================================================~%MSG: unitree_legged_msgs/Cartesian~%float32 x~%float32 y~%float32 z~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 2 + 2 + 4 + 1 + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'imu)) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'motorState) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'footForce) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'footForceEst) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'wirelessRemote) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) + 4 + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'eeForceRaw) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'eeForce) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele)))) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'position)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'velocity)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'velocity_w)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'LowState + (cl:cons ':levelFlag (levelFlag msg)) + (cl:cons ':commVersion (commVersion msg)) + (cl:cons ':robotID (robotID msg)) + (cl:cons ':SN (SN msg)) + (cl:cons ':bandWidth (bandWidth msg)) + (cl:cons ':imu (imu msg)) + (cl:cons ':motorState (motorState msg)) + (cl:cons ':footForce (footForce msg)) + (cl:cons ':footForceEst (footForceEst msg)) + (cl:cons ':tick (tick msg)) + (cl:cons ':wirelessRemote (wirelessRemote msg)) + (cl:cons ':reserve (reserve msg)) + (cl:cons ':crc (crc msg)) + (cl:cons ':eeForceRaw (eeForceRaw msg)) + (cl:cons ':eeForce (eeForce msg)) + (cl:cons ':position (position msg)) + (cl:cons ':velocity (velocity msg)) + (cl:cons ':velocity_w (velocity_w msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/MotorCmd.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/MotorCmd.lisp new file mode 100644 index 00000000..bccf16ee --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/MotorCmd.lisp @@ -0,0 +1,203 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude MotorCmd.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((mode + :reader mode + :initarg :mode + :type cl:fixnum + :initform 0) + (q + :reader q + :initarg :q + :type cl:float + :initform 0.0) + (dq + :reader dq + :initarg :dq + :type cl:float + :initform 0.0) + (tau + :reader tau + :initarg :tau + :type cl:float + :initform 0.0) + (Kp + :reader Kp + :initarg :Kp + :type cl:float + :initform 0.0) + (Kd + :reader Kd + :initarg :Kd + :type cl:float + :initform 0.0) + (reserve + :reader reserve + :initarg :reserve + :type (cl:vector cl:integer) + :initform (cl:make-array 3 :element-type 'cl:integer :initial-element 0))) +) + +(cl:defclass MotorCmd () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MotorCmd) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:MotorCmd instead."))) + +(cl:ensure-generic-function 'mode-val :lambda-list '(m)) +(cl:defmethod mode-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:mode-val is deprecated. Use unitree_legged_msgs-msg:mode instead.") + (mode m)) + +(cl:ensure-generic-function 'q-val :lambda-list '(m)) +(cl:defmethod q-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:q-val is deprecated. Use unitree_legged_msgs-msg:q instead.") + (q m)) + +(cl:ensure-generic-function 'dq-val :lambda-list '(m)) +(cl:defmethod dq-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:dq-val is deprecated. Use unitree_legged_msgs-msg:dq instead.") + (dq m)) + +(cl:ensure-generic-function 'tau-val :lambda-list '(m)) +(cl:defmethod tau-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:tau-val is deprecated. Use unitree_legged_msgs-msg:tau instead.") + (tau m)) + +(cl:ensure-generic-function 'Kp-val :lambda-list '(m)) +(cl:defmethod Kp-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:Kp-val is deprecated. Use unitree_legged_msgs-msg:Kp instead.") + (Kp m)) + +(cl:ensure-generic-function 'Kd-val :lambda-list '(m)) +(cl:defmethod Kd-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:Kd-val is deprecated. Use unitree_legged_msgs-msg:Kd instead.") + (Kd m)) + +(cl:ensure-generic-function 'reserve-val :lambda-list '(m)) +(cl:defmethod reserve-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:reserve-val is deprecated. Use unitree_legged_msgs-msg:reserve instead.") + (reserve m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) ostream) + (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'q)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'dq)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'tau)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'Kp)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'Kd)))) + (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:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) ele) ostream)) + (cl:slot-value msg 'reserve)) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) (cl:read-byte istream)) + (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:slot-value msg 'q) (roslisp-utils:decode-single-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:slot-value msg 'dq) (roslisp-utils:decode-single-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:slot-value msg 'tau) (roslisp-utils:decode-single-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:slot-value msg 'Kp) (roslisp-utils:decode-single-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:slot-value msg 'Kd) (roslisp-utils:decode-single-float-bits bits))) + (cl:setf (cl:slot-value msg 'reserve) (cl:make-array 3)) + (cl:let ((vals (cl:slot-value msg 'reserve))) + (cl:dotimes (i 3) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:aref vals i)) (cl:read-byte istream)))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/MotorCmd") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MotorCmd))) + "Returns string type for a message object of type 'MotorCmd" + "unitree_legged_msgs/MotorCmd") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "bbb3b7d91319c3a1b99055f0149ba221") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MotorCmd))) + "Returns md5sum for a message object of type 'MotorCmd" + "bbb3b7d91319c3a1b99055f0149ba221") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "uint8 mode # motor target mode~%float32 q # motor target position~%float32 dq # motor target velocity~%float32 tau # motor target torque~%float32 Kp # motor spring stiffness coefficient~%float32 Kd # motor damper coefficient~%uint32[3] reserve # motor target torque~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MotorCmd))) + "Returns full string definition for message of type 'MotorCmd" + (cl:format cl:nil "uint8 mode # motor target mode~%float32 q # motor target position~%float32 dq # motor target velocity~%float32 tau # motor target torque~%float32 Kp # motor spring stiffness coefficient~%float32 Kd # motor damper coefficient~%uint32[3] reserve # motor target torque~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 4 + 4 + 4 + 4 + 4 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'reserve) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MotorCmd + (cl:cons ':mode (mode msg)) + (cl:cons ':q (q msg)) + (cl:cons ':dq (dq msg)) + (cl:cons ':tau (tau msg)) + (cl:cons ':Kp (Kp msg)) + (cl:cons ':Kd (Kd msg)) + (cl:cons ':reserve (reserve msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/MotorState.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/MotorState.lisp new file mode 100644 index 00000000..01ba6f1c --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/MotorState.lisp @@ -0,0 +1,267 @@ +; Auto-generated. Do not edit! + + +(cl:in-package unitree_legged_msgs-msg) + + +;//! \htmlinclude MotorState.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((mode + :reader mode + :initarg :mode + :type cl:fixnum + :initform 0) + (q + :reader q + :initarg :q + :type cl:float + :initform 0.0) + (dq + :reader dq + :initarg :dq + :type cl:float + :initform 0.0) + (ddq + :reader ddq + :initarg :ddq + :type cl:float + :initform 0.0) + (tauEst + :reader tauEst + :initarg :tauEst + :type cl:float + :initform 0.0) + (q_raw + :reader q_raw + :initarg :q_raw + :type cl:float + :initform 0.0) + (dq_raw + :reader dq_raw + :initarg :dq_raw + :type cl:float + :initform 0.0) + (ddq_raw + :reader ddq_raw + :initarg :ddq_raw + :type cl:float + :initform 0.0) + (temperature + :reader temperature + :initarg :temperature + :type cl:fixnum + :initform 0) + (reserve + :reader reserve + :initarg :reserve + :type (cl:vector cl:integer) + :initform (cl:make-array 2 :element-type 'cl:integer :initial-element 0))) +) + +(cl:defclass MotorState () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MotorState) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name unitree_legged_msgs-msg: is deprecated: use unitree_legged_msgs-msg:MotorState instead."))) + +(cl:ensure-generic-function 'mode-val :lambda-list '(m)) +(cl:defmethod mode-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:mode-val is deprecated. Use unitree_legged_msgs-msg:mode instead.") + (mode m)) + +(cl:ensure-generic-function 'q-val :lambda-list '(m)) +(cl:defmethod q-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:q-val is deprecated. Use unitree_legged_msgs-msg:q instead.") + (q m)) + +(cl:ensure-generic-function 'dq-val :lambda-list '(m)) +(cl:defmethod dq-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:dq-val is deprecated. Use unitree_legged_msgs-msg:dq instead.") + (dq m)) + +(cl:ensure-generic-function 'ddq-val :lambda-list '(m)) +(cl:defmethod ddq-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:ddq-val is deprecated. Use unitree_legged_msgs-msg:ddq instead.") + (ddq m)) + +(cl:ensure-generic-function 'tauEst-val :lambda-list '(m)) +(cl:defmethod tauEst-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:tauEst-val is deprecated. Use unitree_legged_msgs-msg:tauEst instead.") + (tauEst m)) + +(cl:ensure-generic-function 'q_raw-val :lambda-list '(m)) +(cl:defmethod q_raw-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:q_raw-val is deprecated. Use unitree_legged_msgs-msg:q_raw instead.") + (q_raw m)) + +(cl:ensure-generic-function 'dq_raw-val :lambda-list '(m)) +(cl:defmethod dq_raw-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:dq_raw-val is deprecated. Use unitree_legged_msgs-msg:dq_raw instead.") + (dq_raw m)) + +(cl:ensure-generic-function 'ddq_raw-val :lambda-list '(m)) +(cl:defmethod ddq_raw-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:ddq_raw-val is deprecated. Use unitree_legged_msgs-msg:ddq_raw instead.") + (ddq_raw m)) + +(cl:ensure-generic-function 'temperature-val :lambda-list '(m)) +(cl:defmethod temperature-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:temperature-val is deprecated. Use unitree_legged_msgs-msg:temperature instead.") + (temperature m)) + +(cl:ensure-generic-function 'reserve-val :lambda-list '(m)) +(cl:defmethod reserve-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader unitree_legged_msgs-msg:reserve-val is deprecated. Use unitree_legged_msgs-msg:reserve instead.") + (reserve m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) ostream) + (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'q)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'dq)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'ddq)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'tauEst)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'q_raw)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'dq_raw)))) + (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:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'ddq_raw)))) + (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:let* ((signed (cl:slot-value msg 'temperature)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + ) + (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) ele) ostream)) + (cl:slot-value msg 'reserve)) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) (cl:read-byte istream)) + (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:slot-value msg 'q) (roslisp-utils:decode-single-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:slot-value msg 'dq) (roslisp-utils:decode-single-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:slot-value msg 'ddq) (roslisp-utils:decode-single-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:slot-value msg 'tauEst) (roslisp-utils:decode-single-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:slot-value msg 'q_raw) (roslisp-utils:decode-single-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:slot-value msg 'dq_raw) (roslisp-utils:decode-single-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:slot-value msg 'ddq_raw) (roslisp-utils:decode-single-float-bits bits))) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'temperature) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256)))) + (cl:setf (cl:slot-value msg 'reserve) (cl:make-array 2)) + (cl:let ((vals (cl:slot-value msg 'reserve))) + (cl:dotimes (i 2) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) (cl:aref vals i)) (cl:read-byte istream)))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "unitree_legged_msgs/MotorState") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MotorState))) + "Returns string type for a message object of type 'MotorState" + "unitree_legged_msgs/MotorState") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "94c55ee3b7852be2bd437b20ce12a254") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MotorState))) + "Returns md5sum for a message object of type 'MotorState" + "94c55ee3b7852be2bd437b20ce12a254") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "uint8 mode # motor current mode ~%float32 q # motor current position（rad）~%float32 dq # motor current speed（rad/s）~%float32 ddq # motor current speed（rad/s）~%float32 tauEst # current estimated output torque（N*m）~%float32 q_raw # motor current position（rad）~%float32 dq_raw # motor current speed（rad/s）~%float32 ddq_raw # motor current speed（rad/s）~%int8 temperature # motor temperature（slow conduction of temperature leads to lag）~%uint32[2] reserve~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MotorState))) + "Returns full string definition for message of type 'MotorState" + (cl:format cl:nil "uint8 mode # motor current mode ~%float32 q # motor current position（rad）~%float32 dq # motor current speed（rad/s）~%float32 ddq # motor current speed（rad/s）~%float32 tauEst # current estimated output torque（N*m）~%float32 q_raw # motor current position（rad）~%float32 dq_raw # motor current speed（rad/s）~%float32 ddq_raw # motor current speed（rad/s）~%int8 temperature # motor temperature（slow conduction of temperature leads to lag）~%uint32[2] reserve~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 4 + 4 + 4 + 4 + 4 + 4 + 4 + 1 + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'reserve) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MotorState + (cl:cons ':mode (mode msg)) + (cl:cons ':q (q msg)) + (cl:cons ':dq (dq msg)) + (cl:cons ':ddq (ddq msg)) + (cl:cons ':tauEst (tauEst msg)) + (cl:cons ':q_raw (q_raw msg)) + (cl:cons ':dq_raw (dq_raw msg)) + (cl:cons ':ddq_raw (ddq_raw msg)) + (cl:cons ':temperature (temperature msg)) + (cl:cons ':reserve (reserve msg)) +)) diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package.lisp new file mode 100644 index 00000000..2998e21d --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package.lisp @@ -0,0 +1,23 @@ +(cl:defpackage unitree_legged_msgs-msg + (:use ) + (:export + "" + "CARTESIAN" + "" + "HIGHCMD" + "" + "HIGHSTATE" + "" + "IMU" + "" + "LED" + "" + "LOWCMD" + "" + "LOWSTATE" + "" + "MOTORCMD" + "" + "MOTORSTATE" + )) + diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_Cartesian.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_Cartesian.lisp new file mode 100644 index 00000000..75b4a65e --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_Cartesian.lisp @@ -0,0 +1,8 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(X-VAL + X + Y-VAL + Y + Z-VAL + Z +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_HighCmd.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_HighCmd.lisp new file mode 100644 index 00000000..c55365b9 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_HighCmd.lisp @@ -0,0 +1,40 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(LEVELFLAG-VAL + LEVELFLAG + COMMVERSION-VAL + COMMVERSION + ROBOTID-VAL + ROBOTID + SN-VAL + SN + BANDWIDTH-VAL + BANDWIDTH + MODE-VAL + MODE + FORWARDSPEED-VAL + FORWARDSPEED + SIDESPEED-VAL + SIDESPEED + ROTATESPEED-VAL + ROTATESPEED + BODYHEIGHT-VAL + BODYHEIGHT + FOOTRAISEHEIGHT-VAL + FOOTRAISEHEIGHT + YAW-VAL + YAW + PITCH-VAL + PITCH + ROLL-VAL + ROLL + LED-VAL + LED + WIRELESSREMOTE-VAL + WIRELESSREMOTE + APPREMOTE-VAL + APPREMOTE + RESERVE-VAL + RESERVE + CRC-VAL + CRC +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_HighState.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_HighState.lisp new file mode 100644 index 00000000..070610d7 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_HighState.lisp @@ -0,0 +1,50 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(LEVELFLAG-VAL + LEVELFLAG + COMMVERSION-VAL + COMMVERSION + ROBOTID-VAL + ROBOTID + SN-VAL + SN + BANDWIDTH-VAL + BANDWIDTH + MODE-VAL + MODE + IMU-VAL + IMU + FORWARDSPEED-VAL + FORWARDSPEED + SIDESPEED-VAL + SIDESPEED + ROTATESPEED-VAL + ROTATESPEED + BODYHEIGHT-VAL + BODYHEIGHT + UPDOWNSPEED-VAL + UPDOWNSPEED + FORWARDPOSITION-VAL + FORWARDPOSITION + SIDEPOSITION-VAL + SIDEPOSITION + FOOTPOSITION2BODY-VAL + FOOTPOSITION2BODY + FOOTSPEED2BODY-VAL + FOOTSPEED2BODY + FOOTFORCE-VAL + FOOTFORCE + FOOTFORCEEST-VAL + FOOTFORCEEST + TICK-VAL + TICK + WIRELESSREMOTE-VAL + WIRELESSREMOTE + RESERVE-VAL + RESERVE + CRC-VAL + CRC + EEFORCE-VAL + EEFORCE + JOINTP-VAL + JOINTP +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_IMU.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_IMU.lisp new file mode 100644 index 00000000..9134dc97 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_IMU.lisp @@ -0,0 +1,10 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(QUATERNION-VAL + QUATERNION + GYROSCOPE-VAL + GYROSCOPE + ACCELEROMETER-VAL + ACCELEROMETER + TEMPERATURE-VAL + TEMPERATURE +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LED.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LED.lisp new file mode 100644 index 00000000..400a03a6 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LED.lisp @@ -0,0 +1,8 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(R-VAL + R + G-VAL + G + B-VAL + B +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LowCmd.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LowCmd.lisp new file mode 100644 index 00000000..a123b050 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LowCmd.lisp @@ -0,0 +1,24 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(LEVELFLAG-VAL + LEVELFLAG + COMMVERSION-VAL + COMMVERSION + ROBOTID-VAL + ROBOTID + SN-VAL + SN + BANDWIDTH-VAL + BANDWIDTH + MOTORCMD-VAL + MOTORCMD + LED-VAL + LED + WIRELESSREMOTE-VAL + WIRELESSREMOTE + RESERVE-VAL + RESERVE + CRC-VAL + CRC + FF-VAL + FF +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LowState.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LowState.lisp new file mode 100644 index 00000000..3600c810 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_LowState.lisp @@ -0,0 +1,38 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(LEVELFLAG-VAL + LEVELFLAG + COMMVERSION-VAL + COMMVERSION + ROBOTID-VAL + ROBOTID + SN-VAL + SN + BANDWIDTH-VAL + BANDWIDTH + IMU-VAL + IMU + MOTORSTATE-VAL + MOTORSTATE + FOOTFORCE-VAL + FOOTFORCE + FOOTFORCEEST-VAL + FOOTFORCEEST + TICK-VAL + TICK + WIRELESSREMOTE-VAL + WIRELESSREMOTE + RESERVE-VAL + RESERVE + CRC-VAL + CRC + EEFORCERAW-VAL + EEFORCERAW + EEFORCE-VAL + EEFORCE + POSITION-VAL + POSITION + VELOCITY-VAL + VELOCITY + VELOCITY_W-VAL + VELOCITY_W +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_MotorCmd.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_MotorCmd.lisp new file mode 100644 index 00000000..d0253f2b --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_MotorCmd.lisp @@ -0,0 +1,16 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(MODE-VAL + MODE + Q-VAL + Q + DQ-VAL + DQ + TAU-VAL + TAU + KP-VAL + KP + KD-VAL + KD + RESERVE-VAL + RESERVE +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_MotorState.lisp b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_MotorState.lisp new file mode 100644 index 00000000..dc6f8cf8 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/_package_MotorState.lisp @@ -0,0 +1,22 @@ +(cl:in-package unitree_legged_msgs-msg) +(cl:export '(MODE-VAL + MODE + Q-VAL + Q + DQ-VAL + DQ + DDQ-VAL + DDQ + TAUEST-VAL + TAUEST + Q_RAW-VAL + Q_RAW + DQ_RAW-VAL + DQ_RAW + DDQ_RAW-VAL + DDQ_RAW + TEMPERATURE-VAL + TEMPERATURE + RESERVE-VAL + RESERVE +)) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/unitree_legged_msgs-msg.asd b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/unitree_legged_msgs-msg.asd new file mode 100644 index 00000000..1dc012c3 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/common-lisp/ros/unitree_legged_msgs/msg/unitree_legged_msgs-msg.asd @@ -0,0 +1,25 @@ + +(cl:in-package :asdf) + +(defsystem "unitree_legged_msgs-msg" + :depends-on (:roslisp-msg-protocol :roslisp-utils ) + :components ((:file "_package") + (:file "Cartesian" :depends-on ("_package_Cartesian")) + (:file "_package_Cartesian" :depends-on ("_package")) + (:file "HighCmd" :depends-on ("_package_HighCmd")) + (:file "_package_HighCmd" :depends-on ("_package")) + (:file "HighState" :depends-on ("_package_HighState")) + (:file "_package_HighState" :depends-on ("_package")) + (:file "IMU" :depends-on ("_package_IMU")) + (:file "_package_IMU" :depends-on ("_package")) + (:file "LED" :depends-on ("_package_LED")) + (:file "_package_LED" :depends-on ("_package")) + (:file "LowCmd" :depends-on ("_package_LowCmd")) + (:file "_package_LowCmd" :depends-on ("_package")) + (:file "LowState" :depends-on ("_package_LowState")) + (:file "_package_LowState" :depends-on ("_package")) + (:file "MotorCmd" :depends-on ("_package_MotorCmd")) + (:file "_package_MotorCmd" :depends-on ("_package")) + (:file "MotorState" :depends-on ("_package_MotorState")) + (:file "_package_MotorState" :depends-on ("_package")) + )) \ No newline at end of file diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/_index.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/_index.js new file mode 100644 index 00000000..74b3dd0b --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/_index.js @@ -0,0 +1,6 @@ + +"use strict"; + +module.exports = { + msg: require('./msg/_index.js'), +}; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/Cartesian.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/Cartesian.js new file mode 100644 index 00000000..456aeefb --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/Cartesian.js @@ -0,0 +1,125 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + +class Cartesian { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.x = null; + this.y = null; + this.z = null; + } + else { + if (initObj.hasOwnProperty('x')) { + this.x = initObj.x + } + else { + this.x = 0.0; + } + if (initObj.hasOwnProperty('y')) { + this.y = initObj.y + } + else { + this.y = 0.0; + } + if (initObj.hasOwnProperty('z')) { + this.z = initObj.z + } + else { + this.z = 0.0; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type Cartesian + // Serialize message field [x] + bufferOffset = _serializer.float32(obj.x, buffer, bufferOffset); + // Serialize message field [y] + bufferOffset = _serializer.float32(obj.y, buffer, bufferOffset); + // Serialize message field [z] + bufferOffset = _serializer.float32(obj.z, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type Cartesian + let len; + let data = new Cartesian(null); + // Deserialize message field [x] + data.x = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [y] + data.y = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [z] + data.z = _deserializer.float32(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + return 12; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/Cartesian'; + } + + static md5sum() { + //Returns md5sum for a message object + return 'cc153912f1453b708d221682bc23d9ac'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + float32 x + float32 y + float32 z + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new Cartesian(null); + if (msg.x !== undefined) { + resolved.x = msg.x; + } + else { + resolved.x = 0.0 + } + + if (msg.y !== undefined) { + resolved.y = msg.y; + } + else { + resolved.y = 0.0 + } + + if (msg.z !== undefined) { + resolved.z = msg.z; + } + else { + resolved.z = 0.0 + } + + return resolved; + } +}; + +module.exports = Cartesian; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/HighCmd.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/HighCmd.js new file mode 100644 index 00000000..87231c05 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/HighCmd.js @@ -0,0 +1,461 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; +let LED = require('./LED.js'); + +//----------------------------------------------------------- + +class HighCmd { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.levelFlag = null; + this.commVersion = null; + this.robotID = null; + this.SN = null; + this.bandWidth = null; + this.mode = null; + this.forwardSpeed = null; + this.sideSpeed = null; + this.rotateSpeed = null; + this.bodyHeight = null; + this.footRaiseHeight = null; + this.yaw = null; + this.pitch = null; + this.roll = null; + this.led = null; + this.wirelessRemote = null; + this.AppRemote = null; + this.reserve = null; + this.crc = null; + } + else { + if (initObj.hasOwnProperty('levelFlag')) { + this.levelFlag = initObj.levelFlag + } + else { + this.levelFlag = 0; + } + if (initObj.hasOwnProperty('commVersion')) { + this.commVersion = initObj.commVersion + } + else { + this.commVersion = 0; + } + if (initObj.hasOwnProperty('robotID')) { + this.robotID = initObj.robotID + } + else { + this.robotID = 0; + } + if (initObj.hasOwnProperty('SN')) { + this.SN = initObj.SN + } + else { + this.SN = 0; + } + if (initObj.hasOwnProperty('bandWidth')) { + this.bandWidth = initObj.bandWidth + } + else { + this.bandWidth = 0; + } + if (initObj.hasOwnProperty('mode')) { + this.mode = initObj.mode + } + else { + this.mode = 0; + } + if (initObj.hasOwnProperty('forwardSpeed')) { + this.forwardSpeed = initObj.forwardSpeed + } + else { + this.forwardSpeed = 0.0; + } + if (initObj.hasOwnProperty('sideSpeed')) { + this.sideSpeed = initObj.sideSpeed + } + else { + this.sideSpeed = 0.0; + } + if (initObj.hasOwnProperty('rotateSpeed')) { + this.rotateSpeed = initObj.rotateSpeed + } + else { + this.rotateSpeed = 0.0; + } + if (initObj.hasOwnProperty('bodyHeight')) { + this.bodyHeight = initObj.bodyHeight + } + else { + this.bodyHeight = 0.0; + } + if (initObj.hasOwnProperty('footRaiseHeight')) { + this.footRaiseHeight = initObj.footRaiseHeight + } + else { + this.footRaiseHeight = 0.0; + } + if (initObj.hasOwnProperty('yaw')) { + this.yaw = initObj.yaw + } + else { + this.yaw = 0.0; + } + if (initObj.hasOwnProperty('pitch')) { + this.pitch = initObj.pitch + } + else { + this.pitch = 0.0; + } + if (initObj.hasOwnProperty('roll')) { + this.roll = initObj.roll + } + else { + this.roll = 0.0; + } + if (initObj.hasOwnProperty('led')) { + this.led = initObj.led + } + else { + this.led = new Array(4).fill(new LED()); + } + if (initObj.hasOwnProperty('wirelessRemote')) { + this.wirelessRemote = initObj.wirelessRemote + } + else { + this.wirelessRemote = new Array(40).fill(0); + } + if (initObj.hasOwnProperty('AppRemote')) { + this.AppRemote = initObj.AppRemote + } + else { + this.AppRemote = new Array(40).fill(0); + } + if (initObj.hasOwnProperty('reserve')) { + this.reserve = initObj.reserve + } + else { + this.reserve = 0; + } + if (initObj.hasOwnProperty('crc')) { + this.crc = initObj.crc + } + else { + this.crc = 0; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type HighCmd + // Serialize message field [levelFlag] + bufferOffset = _serializer.uint8(obj.levelFlag, buffer, bufferOffset); + // Serialize message field [commVersion] + bufferOffset = _serializer.uint16(obj.commVersion, buffer, bufferOffset); + // Serialize message field [robotID] + bufferOffset = _serializer.uint16(obj.robotID, buffer, bufferOffset); + // Serialize message field [SN] + bufferOffset = _serializer.uint32(obj.SN, buffer, bufferOffset); + // Serialize message field [bandWidth] + bufferOffset = _serializer.uint8(obj.bandWidth, buffer, bufferOffset); + // Serialize message field [mode] + bufferOffset = _serializer.uint8(obj.mode, buffer, bufferOffset); + // Serialize message field [forwardSpeed] + bufferOffset = _serializer.float32(obj.forwardSpeed, buffer, bufferOffset); + // Serialize message field [sideSpeed] + bufferOffset = _serializer.float32(obj.sideSpeed, buffer, bufferOffset); + // Serialize message field [rotateSpeed] + bufferOffset = _serializer.float32(obj.rotateSpeed, buffer, bufferOffset); + // Serialize message field [bodyHeight] + bufferOffset = _serializer.float32(obj.bodyHeight, buffer, bufferOffset); + // Serialize message field [footRaiseHeight] + bufferOffset = _serializer.float32(obj.footRaiseHeight, buffer, bufferOffset); + // Serialize message field [yaw] + bufferOffset = _serializer.float32(obj.yaw, buffer, bufferOffset); + // Serialize message field [pitch] + bufferOffset = _serializer.float32(obj.pitch, buffer, bufferOffset); + // Serialize message field [roll] + bufferOffset = _serializer.float32(obj.roll, buffer, bufferOffset); + // Check that the constant length array field [led] has the right length + if (obj.led.length !== 4) { + throw new Error('Unable to serialize array field led - length must be 4') + } + // Serialize message field [led] + obj.led.forEach((val) => { + bufferOffset = LED.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [wirelessRemote] has the right length + if (obj.wirelessRemote.length !== 40) { + throw new Error('Unable to serialize array field wirelessRemote - length must be 40') + } + // Serialize message field [wirelessRemote] + bufferOffset = _arraySerializer.uint8(obj.wirelessRemote, buffer, bufferOffset, 40); + // Check that the constant length array field [AppRemote] has the right length + if (obj.AppRemote.length !== 40) { + throw new Error('Unable to serialize array field AppRemote - length must be 40') + } + // Serialize message field [AppRemote] + bufferOffset = _arraySerializer.uint8(obj.AppRemote, buffer, bufferOffset, 40); + // Serialize message field [reserve] + bufferOffset = _serializer.uint32(obj.reserve, buffer, bufferOffset); + // Serialize message field [crc] + bufferOffset = _serializer.int32(obj.crc, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type HighCmd + let len; + let data = new HighCmd(null); + // Deserialize message field [levelFlag] + data.levelFlag = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [commVersion] + data.commVersion = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [robotID] + data.robotID = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [SN] + data.SN = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [bandWidth] + data.bandWidth = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [mode] + data.mode = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [forwardSpeed] + data.forwardSpeed = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [sideSpeed] + data.sideSpeed = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [rotateSpeed] + data.rotateSpeed = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [bodyHeight] + data.bodyHeight = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [footRaiseHeight] + data.footRaiseHeight = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [yaw] + data.yaw = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [pitch] + data.pitch = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [roll] + data.roll = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [led] + len = 4; + data.led = new Array(len); + for (let i = 0; i < len; ++i) { + data.led[i] = LED.deserialize(buffer, bufferOffset) + } + // Deserialize message field [wirelessRemote] + data.wirelessRemote = _arrayDeserializer.uint8(buffer, bufferOffset, 40) + // Deserialize message field [AppRemote] + data.AppRemote = _arrayDeserializer.uint8(buffer, bufferOffset, 40) + // Deserialize message field [reserve] + data.reserve = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [crc] + data.crc = _deserializer.int32(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + return 134; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/HighCmd'; + } + + static md5sum() { + //Returns md5sum for a message object + return '1a655499a3f64905db59ceed65ca774a'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + uint8 levelFlag + uint16 commVersion # Old version Aliengo does not have + uint16 robotID # Old version Aliengo does not have + uint32 SN # Old version Aliengo does not have + uint8 bandWidth # Old version Aliengo does not have + uint8 mode + float32 forwardSpeed + float32 sideSpeed + float32 rotateSpeed + float32 bodyHeight + float32 footRaiseHeight + float32 yaw + float32 pitch + float32 roll + LED[4] led + uint8[40] wirelessRemote + uint8[40] AppRemote # Old version Aliengo does not have + uint32 reserve # Old version Aliengo does not have + int32 crc + ================================================================================ + MSG: unitree_legged_msgs/LED + uint8 r + uint8 g + uint8 b + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new HighCmd(null); + if (msg.levelFlag !== undefined) { + resolved.levelFlag = msg.levelFlag; + } + else { + resolved.levelFlag = 0 + } + + if (msg.commVersion !== undefined) { + resolved.commVersion = msg.commVersion; + } + else { + resolved.commVersion = 0 + } + + if (msg.robotID !== undefined) { + resolved.robotID = msg.robotID; + } + else { + resolved.robotID = 0 + } + + if (msg.SN !== undefined) { + resolved.SN = msg.SN; + } + else { + resolved.SN = 0 + } + + if (msg.bandWidth !== undefined) { + resolved.bandWidth = msg.bandWidth; + } + else { + resolved.bandWidth = 0 + } + + if (msg.mode !== undefined) { + resolved.mode = msg.mode; + } + else { + resolved.mode = 0 + } + + if (msg.forwardSpeed !== undefined) { + resolved.forwardSpeed = msg.forwardSpeed; + } + else { + resolved.forwardSpeed = 0.0 + } + + if (msg.sideSpeed !== undefined) { + resolved.sideSpeed = msg.sideSpeed; + } + else { + resolved.sideSpeed = 0.0 + } + + if (msg.rotateSpeed !== undefined) { + resolved.rotateSpeed = msg.rotateSpeed; + } + else { + resolved.rotateSpeed = 0.0 + } + + if (msg.bodyHeight !== undefined) { + resolved.bodyHeight = msg.bodyHeight; + } + else { + resolved.bodyHeight = 0.0 + } + + if (msg.footRaiseHeight !== undefined) { + resolved.footRaiseHeight = msg.footRaiseHeight; + } + else { + resolved.footRaiseHeight = 0.0 + } + + if (msg.yaw !== undefined) { + resolved.yaw = msg.yaw; + } + else { + resolved.yaw = 0.0 + } + + if (msg.pitch !== undefined) { + resolved.pitch = msg.pitch; + } + else { + resolved.pitch = 0.0 + } + + if (msg.roll !== undefined) { + resolved.roll = msg.roll; + } + else { + resolved.roll = 0.0 + } + + if (msg.led !== undefined) { + resolved.led = new Array(4) + for (let i = 0; i < resolved.led.length; ++i) { + if (msg.led.length > i) { + resolved.led[i] = LED.Resolve(msg.led[i]); + } + else { + resolved.led[i] = new LED(); + } + } + } + else { + resolved.led = new Array(4).fill(new LED()) + } + + if (msg.wirelessRemote !== undefined) { + resolved.wirelessRemote = msg.wirelessRemote; + } + else { + resolved.wirelessRemote = new Array(40).fill(0) + } + + if (msg.AppRemote !== undefined) { + resolved.AppRemote = msg.AppRemote; + } + else { + resolved.AppRemote = new Array(40).fill(0) + } + + if (msg.reserve !== undefined) { + resolved.reserve = msg.reserve; + } + else { + resolved.reserve = 0 + } + + if (msg.crc !== undefined) { + resolved.crc = msg.crc; + } + else { + resolved.crc = 0 + } + + return resolved; + } +}; + +module.exports = HighCmd; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/HighState.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/HighState.js new file mode 100644 index 00000000..ff9af70e --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/HighState.js @@ -0,0 +1,609 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; +let IMU = require('./IMU.js'); +let Cartesian = require('./Cartesian.js'); + +//----------------------------------------------------------- + +class HighState { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.levelFlag = null; + this.commVersion = null; + this.robotID = null; + this.SN = null; + this.bandWidth = null; + this.mode = null; + this.imu = null; + this.forwardSpeed = null; + this.sideSpeed = null; + this.rotateSpeed = null; + this.bodyHeight = null; + this.updownSpeed = null; + this.forwardPosition = null; + this.sidePosition = null; + this.footPosition2Body = null; + this.footSpeed2Body = null; + this.footForce = null; + this.footForceEst = null; + this.tick = null; + this.wirelessRemote = null; + this.reserve = null; + this.crc = null; + this.eeForce = null; + this.jointP = null; + } + else { + if (initObj.hasOwnProperty('levelFlag')) { + this.levelFlag = initObj.levelFlag + } + else { + this.levelFlag = 0; + } + if (initObj.hasOwnProperty('commVersion')) { + this.commVersion = initObj.commVersion + } + else { + this.commVersion = 0; + } + if (initObj.hasOwnProperty('robotID')) { + this.robotID = initObj.robotID + } + else { + this.robotID = 0; + } + if (initObj.hasOwnProperty('SN')) { + this.SN = initObj.SN + } + else { + this.SN = 0; + } + if (initObj.hasOwnProperty('bandWidth')) { + this.bandWidth = initObj.bandWidth + } + else { + this.bandWidth = 0; + } + if (initObj.hasOwnProperty('mode')) { + this.mode = initObj.mode + } + else { + this.mode = 0; + } + if (initObj.hasOwnProperty('imu')) { + this.imu = initObj.imu + } + else { + this.imu = new IMU(); + } + if (initObj.hasOwnProperty('forwardSpeed')) { + this.forwardSpeed = initObj.forwardSpeed + } + else { + this.forwardSpeed = 0.0; + } + if (initObj.hasOwnProperty('sideSpeed')) { + this.sideSpeed = initObj.sideSpeed + } + else { + this.sideSpeed = 0.0; + } + if (initObj.hasOwnProperty('rotateSpeed')) { + this.rotateSpeed = initObj.rotateSpeed + } + else { + this.rotateSpeed = 0.0; + } + if (initObj.hasOwnProperty('bodyHeight')) { + this.bodyHeight = initObj.bodyHeight + } + else { + this.bodyHeight = 0.0; + } + if (initObj.hasOwnProperty('updownSpeed')) { + this.updownSpeed = initObj.updownSpeed + } + else { + this.updownSpeed = 0.0; + } + if (initObj.hasOwnProperty('forwardPosition')) { + this.forwardPosition = initObj.forwardPosition + } + else { + this.forwardPosition = 0.0; + } + if (initObj.hasOwnProperty('sidePosition')) { + this.sidePosition = initObj.sidePosition + } + else { + this.sidePosition = 0.0; + } + if (initObj.hasOwnProperty('footPosition2Body')) { + this.footPosition2Body = initObj.footPosition2Body + } + else { + this.footPosition2Body = new Array(4).fill(new Cartesian()); + } + if (initObj.hasOwnProperty('footSpeed2Body')) { + this.footSpeed2Body = initObj.footSpeed2Body + } + else { + this.footSpeed2Body = new Array(4).fill(new Cartesian()); + } + if (initObj.hasOwnProperty('footForce')) { + this.footForce = initObj.footForce + } + else { + this.footForce = new Array(4).fill(0); + } + if (initObj.hasOwnProperty('footForceEst')) { + this.footForceEst = initObj.footForceEst + } + else { + this.footForceEst = new Array(4).fill(0); + } + if (initObj.hasOwnProperty('tick')) { + this.tick = initObj.tick + } + else { + this.tick = 0; + } + if (initObj.hasOwnProperty('wirelessRemote')) { + this.wirelessRemote = initObj.wirelessRemote + } + else { + this.wirelessRemote = new Array(40).fill(0); + } + if (initObj.hasOwnProperty('reserve')) { + this.reserve = initObj.reserve + } + else { + this.reserve = 0; + } + if (initObj.hasOwnProperty('crc')) { + this.crc = initObj.crc + } + else { + this.crc = 0; + } + if (initObj.hasOwnProperty('eeForce')) { + this.eeForce = initObj.eeForce + } + else { + this.eeForce = new Array(4).fill(new Cartesian()); + } + if (initObj.hasOwnProperty('jointP')) { + this.jointP = initObj.jointP + } + else { + this.jointP = new Array(12).fill(0); + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type HighState + // Serialize message field [levelFlag] + bufferOffset = _serializer.uint8(obj.levelFlag, buffer, bufferOffset); + // Serialize message field [commVersion] + bufferOffset = _serializer.uint16(obj.commVersion, buffer, bufferOffset); + // Serialize message field [robotID] + bufferOffset = _serializer.uint16(obj.robotID, buffer, bufferOffset); + // Serialize message field [SN] + bufferOffset = _serializer.uint32(obj.SN, buffer, bufferOffset); + // Serialize message field [bandWidth] + bufferOffset = _serializer.uint8(obj.bandWidth, buffer, bufferOffset); + // Serialize message field [mode] + bufferOffset = _serializer.uint8(obj.mode, buffer, bufferOffset); + // Serialize message field [imu] + bufferOffset = IMU.serialize(obj.imu, buffer, bufferOffset); + // Serialize message field [forwardSpeed] + bufferOffset = _serializer.float32(obj.forwardSpeed, buffer, bufferOffset); + // Serialize message field [sideSpeed] + bufferOffset = _serializer.float32(obj.sideSpeed, buffer, bufferOffset); + // Serialize message field [rotateSpeed] + bufferOffset = _serializer.float32(obj.rotateSpeed, buffer, bufferOffset); + // Serialize message field [bodyHeight] + bufferOffset = _serializer.float32(obj.bodyHeight, buffer, bufferOffset); + // Serialize message field [updownSpeed] + bufferOffset = _serializer.float32(obj.updownSpeed, buffer, bufferOffset); + // Serialize message field [forwardPosition] + bufferOffset = _serializer.float32(obj.forwardPosition, buffer, bufferOffset); + // Serialize message field [sidePosition] + bufferOffset = _serializer.float32(obj.sidePosition, buffer, bufferOffset); + // Check that the constant length array field [footPosition2Body] has the right length + if (obj.footPosition2Body.length !== 4) { + throw new Error('Unable to serialize array field footPosition2Body - length must be 4') + } + // Serialize message field [footPosition2Body] + obj.footPosition2Body.forEach((val) => { + bufferOffset = Cartesian.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [footSpeed2Body] has the right length + if (obj.footSpeed2Body.length !== 4) { + throw new Error('Unable to serialize array field footSpeed2Body - length must be 4') + } + // Serialize message field [footSpeed2Body] + obj.footSpeed2Body.forEach((val) => { + bufferOffset = Cartesian.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [footForce] has the right length + if (obj.footForce.length !== 4) { + throw new Error('Unable to serialize array field footForce - length must be 4') + } + // Serialize message field [footForce] + bufferOffset = _arraySerializer.int16(obj.footForce, buffer, bufferOffset, 4); + // Check that the constant length array field [footForceEst] has the right length + if (obj.footForceEst.length !== 4) { + throw new Error('Unable to serialize array field footForceEst - length must be 4') + } + // Serialize message field [footForceEst] + bufferOffset = _arraySerializer.int16(obj.footForceEst, buffer, bufferOffset, 4); + // Serialize message field [tick] + bufferOffset = _serializer.uint32(obj.tick, buffer, bufferOffset); + // Check that the constant length array field [wirelessRemote] has the right length + if (obj.wirelessRemote.length !== 40) { + throw new Error('Unable to serialize array field wirelessRemote - length must be 40') + } + // Serialize message field [wirelessRemote] + bufferOffset = _arraySerializer.uint8(obj.wirelessRemote, buffer, bufferOffset, 40); + // Serialize message field [reserve] + bufferOffset = _serializer.uint32(obj.reserve, buffer, bufferOffset); + // Serialize message field [crc] + bufferOffset = _serializer.uint32(obj.crc, buffer, bufferOffset); + // Check that the constant length array field [eeForce] has the right length + if (obj.eeForce.length !== 4) { + throw new Error('Unable to serialize array field eeForce - length must be 4') + } + // Serialize message field [eeForce] + obj.eeForce.forEach((val) => { + bufferOffset = Cartesian.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [jointP] has the right length + if (obj.jointP.length !== 12) { + throw new Error('Unable to serialize array field jointP - length must be 12') + } + // Serialize message field [jointP] + bufferOffset = _arraySerializer.float32(obj.jointP, buffer, bufferOffset, 12); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type HighState + let len; + let data = new HighState(null); + // Deserialize message field [levelFlag] + data.levelFlag = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [commVersion] + data.commVersion = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [robotID] + data.robotID = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [SN] + data.SN = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [bandWidth] + data.bandWidth = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [mode] + data.mode = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [imu] + data.imu = IMU.deserialize(buffer, bufferOffset); + // Deserialize message field [forwardSpeed] + data.forwardSpeed = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [sideSpeed] + data.sideSpeed = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [rotateSpeed] + data.rotateSpeed = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [bodyHeight] + data.bodyHeight = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [updownSpeed] + data.updownSpeed = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [forwardPosition] + data.forwardPosition = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [sidePosition] + data.sidePosition = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [footPosition2Body] + len = 4; + data.footPosition2Body = new Array(len); + for (let i = 0; i < len; ++i) { + data.footPosition2Body[i] = Cartesian.deserialize(buffer, bufferOffset) + } + // Deserialize message field [footSpeed2Body] + len = 4; + data.footSpeed2Body = new Array(len); + for (let i = 0; i < len; ++i) { + data.footSpeed2Body[i] = Cartesian.deserialize(buffer, bufferOffset) + } + // Deserialize message field [footForce] + data.footForce = _arrayDeserializer.int16(buffer, bufferOffset, 4) + // Deserialize message field [footForceEst] + data.footForceEst = _arrayDeserializer.int16(buffer, bufferOffset, 4) + // Deserialize message field [tick] + data.tick = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [wirelessRemote] + data.wirelessRemote = _arrayDeserializer.uint8(buffer, bufferOffset, 40) + // Deserialize message field [reserve] + data.reserve = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [crc] + data.crc = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [eeForce] + len = 4; + data.eeForce = new Array(len); + for (let i = 0; i < len; ++i) { + data.eeForce[i] = Cartesian.deserialize(buffer, bufferOffset) + } + // Deserialize message field [jointP] + data.jointP = _arrayDeserializer.float32(buffer, bufferOffset, 12) + return data; + } + + static getMessageSize(object) { + return 232; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/HighState'; + } + + static md5sum() { + //Returns md5sum for a message object + return 'a12e8b22df896c82203810ec6d521dad'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + uint8 levelFlag + uint16 commVersion # Old version Aliengo does not have + uint16 robotID # Old version Aliengo does not have + uint32 SN # Old version Aliengo does not have + uint8 bandWidth # Old version Aliengo does not have + uint8 mode + IMU imu + float32 forwardSpeed + float32 sideSpeed + float32 rotateSpeed + float32 bodyHeight + float32 updownSpeed + float32 forwardPosition # (will be float type next version) # Old version Aliengo is different + float32 sidePosition # (will be float type next version) # Old version Aliengo is different + Cartesian[4] footPosition2Body + Cartesian[4] footSpeed2Body + int16[4] footForce # Old version Aliengo is different + int16[4] footForceEst # Old version Aliengo does not have + uint32 tick + uint8[40] wirelessRemote + uint32 reserve # Old version Aliengo does not have + uint32 crc + + # Under are not defined in SDK yet. # Old version Aliengo does not have + Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization. + float32[12] jointP # for visualization + ================================================================================ + MSG: unitree_legged_msgs/IMU + float32[4] quaternion + float32[3] gyroscope + float32[3] accelerometer + int8 temperature + ================================================================================ + MSG: unitree_legged_msgs/Cartesian + float32 x + float32 y + float32 z + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new HighState(null); + if (msg.levelFlag !== undefined) { + resolved.levelFlag = msg.levelFlag; + } + else { + resolved.levelFlag = 0 + } + + if (msg.commVersion !== undefined) { + resolved.commVersion = msg.commVersion; + } + else { + resolved.commVersion = 0 + } + + if (msg.robotID !== undefined) { + resolved.robotID = msg.robotID; + } + else { + resolved.robotID = 0 + } + + if (msg.SN !== undefined) { + resolved.SN = msg.SN; + } + else { + resolved.SN = 0 + } + + if (msg.bandWidth !== undefined) { + resolved.bandWidth = msg.bandWidth; + } + else { + resolved.bandWidth = 0 + } + + if (msg.mode !== undefined) { + resolved.mode = msg.mode; + } + else { + resolved.mode = 0 + } + + if (msg.imu !== undefined) { + resolved.imu = IMU.Resolve(msg.imu) + } + else { + resolved.imu = new IMU() + } + + if (msg.forwardSpeed !== undefined) { + resolved.forwardSpeed = msg.forwardSpeed; + } + else { + resolved.forwardSpeed = 0.0 + } + + if (msg.sideSpeed !== undefined) { + resolved.sideSpeed = msg.sideSpeed; + } + else { + resolved.sideSpeed = 0.0 + } + + if (msg.rotateSpeed !== undefined) { + resolved.rotateSpeed = msg.rotateSpeed; + } + else { + resolved.rotateSpeed = 0.0 + } + + if (msg.bodyHeight !== undefined) { + resolved.bodyHeight = msg.bodyHeight; + } + else { + resolved.bodyHeight = 0.0 + } + + if (msg.updownSpeed !== undefined) { + resolved.updownSpeed = msg.updownSpeed; + } + else { + resolved.updownSpeed = 0.0 + } + + if (msg.forwardPosition !== undefined) { + resolved.forwardPosition = msg.forwardPosition; + } + else { + resolved.forwardPosition = 0.0 + } + + if (msg.sidePosition !== undefined) { + resolved.sidePosition = msg.sidePosition; + } + else { + resolved.sidePosition = 0.0 + } + + if (msg.footPosition2Body !== undefined) { + resolved.footPosition2Body = new Array(4) + for (let i = 0; i < resolved.footPosition2Body.length; ++i) { + if (msg.footPosition2Body.length > i) { + resolved.footPosition2Body[i] = Cartesian.Resolve(msg.footPosition2Body[i]); + } + else { + resolved.footPosition2Body[i] = new Cartesian(); + } + } + } + else { + resolved.footPosition2Body = new Array(4).fill(new Cartesian()) + } + + if (msg.footSpeed2Body !== undefined) { + resolved.footSpeed2Body = new Array(4) + for (let i = 0; i < resolved.footSpeed2Body.length; ++i) { + if (msg.footSpeed2Body.length > i) { + resolved.footSpeed2Body[i] = Cartesian.Resolve(msg.footSpeed2Body[i]); + } + else { + resolved.footSpeed2Body[i] = new Cartesian(); + } + } + } + else { + resolved.footSpeed2Body = new Array(4).fill(new Cartesian()) + } + + if (msg.footForce !== undefined) { + resolved.footForce = msg.footForce; + } + else { + resolved.footForce = new Array(4).fill(0) + } + + if (msg.footForceEst !== undefined) { + resolved.footForceEst = msg.footForceEst; + } + else { + resolved.footForceEst = new Array(4).fill(0) + } + + if (msg.tick !== undefined) { + resolved.tick = msg.tick; + } + else { + resolved.tick = 0 + } + + if (msg.wirelessRemote !== undefined) { + resolved.wirelessRemote = msg.wirelessRemote; + } + else { + resolved.wirelessRemote = new Array(40).fill(0) + } + + if (msg.reserve !== undefined) { + resolved.reserve = msg.reserve; + } + else { + resolved.reserve = 0 + } + + if (msg.crc !== undefined) { + resolved.crc = msg.crc; + } + else { + resolved.crc = 0 + } + + if (msg.eeForce !== undefined) { + resolved.eeForce = new Array(4) + for (let i = 0; i < resolved.eeForce.length; ++i) { + if (msg.eeForce.length > i) { + resolved.eeForce[i] = Cartesian.Resolve(msg.eeForce[i]); + } + else { + resolved.eeForce[i] = new Cartesian(); + } + } + } + else { + resolved.eeForce = new Array(4).fill(new Cartesian()) + } + + if (msg.jointP !== undefined) { + resolved.jointP = msg.jointP; + } + else { + resolved.jointP = new Array(12).fill(0) + } + + return resolved; + } +}; + +module.exports = HighState; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/IMU.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/IMU.js new file mode 100644 index 00000000..6e23b7cc --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/IMU.js @@ -0,0 +1,156 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + +class IMU { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.quaternion = null; + this.gyroscope = null; + this.accelerometer = null; + this.temperature = null; + } + else { + if (initObj.hasOwnProperty('quaternion')) { + this.quaternion = initObj.quaternion + } + else { + this.quaternion = new Array(4).fill(0); + } + if (initObj.hasOwnProperty('gyroscope')) { + this.gyroscope = initObj.gyroscope + } + else { + this.gyroscope = new Array(3).fill(0); + } + if (initObj.hasOwnProperty('accelerometer')) { + this.accelerometer = initObj.accelerometer + } + else { + this.accelerometer = new Array(3).fill(0); + } + if (initObj.hasOwnProperty('temperature')) { + this.temperature = initObj.temperature + } + else { + this.temperature = 0; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type IMU + // Check that the constant length array field [quaternion] has the right length + if (obj.quaternion.length !== 4) { + throw new Error('Unable to serialize array field quaternion - length must be 4') + } + // Serialize message field [quaternion] + bufferOffset = _arraySerializer.float32(obj.quaternion, buffer, bufferOffset, 4); + // Check that the constant length array field [gyroscope] has the right length + if (obj.gyroscope.length !== 3) { + throw new Error('Unable to serialize array field gyroscope - length must be 3') + } + // Serialize message field [gyroscope] + bufferOffset = _arraySerializer.float32(obj.gyroscope, buffer, bufferOffset, 3); + // Check that the constant length array field [accelerometer] has the right length + if (obj.accelerometer.length !== 3) { + throw new Error('Unable to serialize array field accelerometer - length must be 3') + } + // Serialize message field [accelerometer] + bufferOffset = _arraySerializer.float32(obj.accelerometer, buffer, bufferOffset, 3); + // Serialize message field [temperature] + bufferOffset = _serializer.int8(obj.temperature, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type IMU + let len; + let data = new IMU(null); + // Deserialize message field [quaternion] + data.quaternion = _arrayDeserializer.float32(buffer, bufferOffset, 4) + // Deserialize message field [gyroscope] + data.gyroscope = _arrayDeserializer.float32(buffer, bufferOffset, 3) + // Deserialize message field [accelerometer] + data.accelerometer = _arrayDeserializer.float32(buffer, bufferOffset, 3) + // Deserialize message field [temperature] + data.temperature = _deserializer.int8(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + return 41; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/IMU'; + } + + static md5sum() { + //Returns md5sum for a message object + return 'dd4bb4e42aa2f15aa1fb1b6a3c3752cb'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + float32[4] quaternion + float32[3] gyroscope + float32[3] accelerometer + int8 temperature + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new IMU(null); + if (msg.quaternion !== undefined) { + resolved.quaternion = msg.quaternion; + } + else { + resolved.quaternion = new Array(4).fill(0) + } + + if (msg.gyroscope !== undefined) { + resolved.gyroscope = msg.gyroscope; + } + else { + resolved.gyroscope = new Array(3).fill(0) + } + + if (msg.accelerometer !== undefined) { + resolved.accelerometer = msg.accelerometer; + } + else { + resolved.accelerometer = new Array(3).fill(0) + } + + if (msg.temperature !== undefined) { + resolved.temperature = msg.temperature; + } + else { + resolved.temperature = 0 + } + + return resolved; + } +}; + +module.exports = IMU; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LED.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LED.js new file mode 100644 index 00000000..8f1fe206 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LED.js @@ -0,0 +1,125 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + +class LED { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.r = null; + this.g = null; + this.b = null; + } + else { + if (initObj.hasOwnProperty('r')) { + this.r = initObj.r + } + else { + this.r = 0; + } + if (initObj.hasOwnProperty('g')) { + this.g = initObj.g + } + else { + this.g = 0; + } + if (initObj.hasOwnProperty('b')) { + this.b = initObj.b + } + else { + this.b = 0; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type LED + // Serialize message field [r] + bufferOffset = _serializer.uint8(obj.r, buffer, bufferOffset); + // Serialize message field [g] + bufferOffset = _serializer.uint8(obj.g, buffer, bufferOffset); + // Serialize message field [b] + bufferOffset = _serializer.uint8(obj.b, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type LED + let len; + let data = new LED(null); + // Deserialize message field [r] + data.r = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [g] + data.g = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [b] + data.b = _deserializer.uint8(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + return 3; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/LED'; + } + + static md5sum() { + //Returns md5sum for a message object + return '353891e354491c51aabe32df673fb446'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + uint8 r + uint8 g + uint8 b + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new LED(null); + if (msg.r !== undefined) { + resolved.r = msg.r; + } + else { + resolved.r = 0 + } + + if (msg.g !== undefined) { + resolved.g = msg.g; + } + else { + resolved.g = 0 + } + + if (msg.b !== undefined) { + resolved.b = msg.b; + } + else { + resolved.b = 0 + } + + return resolved; + } +}; + +module.exports = LED; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LowCmd.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LowCmd.js new file mode 100644 index 00000000..8a9a58ad --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LowCmd.js @@ -0,0 +1,358 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; +let MotorCmd = require('./MotorCmd.js'); +let LED = require('./LED.js'); +let Cartesian = require('./Cartesian.js'); + +//----------------------------------------------------------- + +class LowCmd { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.levelFlag = null; + this.commVersion = null; + this.robotID = null; + this.SN = null; + this.bandWidth = null; + this.motorCmd = null; + this.led = null; + this.wirelessRemote = null; + this.reserve = null; + this.crc = null; + this.ff = null; + } + else { + if (initObj.hasOwnProperty('levelFlag')) { + this.levelFlag = initObj.levelFlag + } + else { + this.levelFlag = 0; + } + if (initObj.hasOwnProperty('commVersion')) { + this.commVersion = initObj.commVersion + } + else { + this.commVersion = 0; + } + if (initObj.hasOwnProperty('robotID')) { + this.robotID = initObj.robotID + } + else { + this.robotID = 0; + } + if (initObj.hasOwnProperty('SN')) { + this.SN = initObj.SN + } + else { + this.SN = 0; + } + if (initObj.hasOwnProperty('bandWidth')) { + this.bandWidth = initObj.bandWidth + } + else { + this.bandWidth = 0; + } + if (initObj.hasOwnProperty('motorCmd')) { + this.motorCmd = initObj.motorCmd + } + else { + this.motorCmd = new Array(20).fill(new MotorCmd()); + } + if (initObj.hasOwnProperty('led')) { + this.led = initObj.led + } + else { + this.led = new Array(4).fill(new LED()); + } + if (initObj.hasOwnProperty('wirelessRemote')) { + this.wirelessRemote = initObj.wirelessRemote + } + else { + this.wirelessRemote = new Array(40).fill(0); + } + if (initObj.hasOwnProperty('reserve')) { + this.reserve = initObj.reserve + } + else { + this.reserve = 0; + } + if (initObj.hasOwnProperty('crc')) { + this.crc = initObj.crc + } + else { + this.crc = 0; + } + if (initObj.hasOwnProperty('ff')) { + this.ff = initObj.ff + } + else { + this.ff = new Array(4).fill(new Cartesian()); + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type LowCmd + // Serialize message field [levelFlag] + bufferOffset = _serializer.uint8(obj.levelFlag, buffer, bufferOffset); + // Serialize message field [commVersion] + bufferOffset = _serializer.uint16(obj.commVersion, buffer, bufferOffset); + // Serialize message field [robotID] + bufferOffset = _serializer.uint16(obj.robotID, buffer, bufferOffset); + // Serialize message field [SN] + bufferOffset = _serializer.uint32(obj.SN, buffer, bufferOffset); + // Serialize message field [bandWidth] + bufferOffset = _serializer.uint8(obj.bandWidth, buffer, bufferOffset); + // Check that the constant length array field [motorCmd] has the right length + if (obj.motorCmd.length !== 20) { + throw new Error('Unable to serialize array field motorCmd - length must be 20') + } + // Serialize message field [motorCmd] + obj.motorCmd.forEach((val) => { + bufferOffset = MotorCmd.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [led] has the right length + if (obj.led.length !== 4) { + throw new Error('Unable to serialize array field led - length must be 4') + } + // Serialize message field [led] + obj.led.forEach((val) => { + bufferOffset = LED.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [wirelessRemote] has the right length + if (obj.wirelessRemote.length !== 40) { + throw new Error('Unable to serialize array field wirelessRemote - length must be 40') + } + // Serialize message field [wirelessRemote] + bufferOffset = _arraySerializer.uint8(obj.wirelessRemote, buffer, bufferOffset, 40); + // Serialize message field [reserve] + bufferOffset = _serializer.uint32(obj.reserve, buffer, bufferOffset); + // Serialize message field [crc] + bufferOffset = _serializer.uint32(obj.crc, buffer, bufferOffset); + // Check that the constant length array field [ff] has the right length + if (obj.ff.length !== 4) { + throw new Error('Unable to serialize array field ff - length must be 4') + } + // Serialize message field [ff] + obj.ff.forEach((val) => { + bufferOffset = Cartesian.serialize(val, buffer, bufferOffset); + }); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type LowCmd + let len; + let data = new LowCmd(null); + // Deserialize message field [levelFlag] + data.levelFlag = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [commVersion] + data.commVersion = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [robotID] + data.robotID = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [SN] + data.SN = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [bandWidth] + data.bandWidth = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [motorCmd] + len = 20; + data.motorCmd = new Array(len); + for (let i = 0; i < len; ++i) { + data.motorCmd[i] = MotorCmd.deserialize(buffer, bufferOffset) + } + // Deserialize message field [led] + len = 4; + data.led = new Array(len); + for (let i = 0; i < len; ++i) { + data.led[i] = LED.deserialize(buffer, bufferOffset) + } + // Deserialize message field [wirelessRemote] + data.wirelessRemote = _arrayDeserializer.uint8(buffer, bufferOffset, 40) + // Deserialize message field [reserve] + data.reserve = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [crc] + data.crc = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [ff] + len = 4; + data.ff = new Array(len); + for (let i = 0; i < len; ++i) { + data.ff[i] = Cartesian.deserialize(buffer, bufferOffset) + } + return data; + } + + static getMessageSize(object) { + return 106; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/LowCmd'; + } + + static md5sum() { + //Returns md5sum for a message object + return '357432b2562edd0a8e89b9c9f5fc4821'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + uint8 levelFlag + uint16 commVersion # Old version Aliengo does not have + uint16 robotID # Old version Aliengo does not have + uint32 SN # Old version Aliengo does not have + uint8 bandWidth # Old version Aliengo does not have + MotorCmd[20] motorCmd + LED[4] led + uint8[40] wirelessRemote + uint32 reserve # Old version Aliengo does not have + uint32 crc + + Cartesian[4] ff # will delete # Old version Aliengo does not have + ================================================================================ + MSG: unitree_legged_msgs/MotorCmd + uint8 mode # motor target mode + float32 q # motor target position + float32 dq # motor target velocity + float32 tau # motor target torque + float32 Kp # motor spring stiffness coefficient + float32 Kd # motor damper coefficient + uint32[3] reserve # motor target torque + ================================================================================ + MSG: unitree_legged_msgs/LED + uint8 r + uint8 g + uint8 b + ================================================================================ + MSG: unitree_legged_msgs/Cartesian + float32 x + float32 y + float32 z + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new LowCmd(null); + if (msg.levelFlag !== undefined) { + resolved.levelFlag = msg.levelFlag; + } + else { + resolved.levelFlag = 0 + } + + if (msg.commVersion !== undefined) { + resolved.commVersion = msg.commVersion; + } + else { + resolved.commVersion = 0 + } + + if (msg.robotID !== undefined) { + resolved.robotID = msg.robotID; + } + else { + resolved.robotID = 0 + } + + if (msg.SN !== undefined) { + resolved.SN = msg.SN; + } + else { + resolved.SN = 0 + } + + if (msg.bandWidth !== undefined) { + resolved.bandWidth = msg.bandWidth; + } + else { + resolved.bandWidth = 0 + } + + if (msg.motorCmd !== undefined) { + resolved.motorCmd = new Array(20) + for (let i = 0; i < resolved.motorCmd.length; ++i) { + if (msg.motorCmd.length > i) { + resolved.motorCmd[i] = MotorCmd.Resolve(msg.motorCmd[i]); + } + else { + resolved.motorCmd[i] = new MotorCmd(); + } + } + } + else { + resolved.motorCmd = new Array(20).fill(new MotorCmd()) + } + + if (msg.led !== undefined) { + resolved.led = new Array(4) + for (let i = 0; i < resolved.led.length; ++i) { + if (msg.led.length > i) { + resolved.led[i] = LED.Resolve(msg.led[i]); + } + else { + resolved.led[i] = new LED(); + } + } + } + else { + resolved.led = new Array(4).fill(new LED()) + } + + if (msg.wirelessRemote !== undefined) { + resolved.wirelessRemote = msg.wirelessRemote; + } + else { + resolved.wirelessRemote = new Array(40).fill(0) + } + + if (msg.reserve !== undefined) { + resolved.reserve = msg.reserve; + } + else { + resolved.reserve = 0 + } + + if (msg.crc !== undefined) { + resolved.crc = msg.crc; + } + else { + resolved.crc = 0 + } + + if (msg.ff !== undefined) { + resolved.ff = new Array(4) + for (let i = 0; i < resolved.ff.length; ++i) { + if (msg.ff.length > i) { + resolved.ff[i] = Cartesian.Resolve(msg.ff[i]); + } + else { + resolved.ff[i] = new Cartesian(); + } + } + } + else { + resolved.ff = new Array(4).fill(new Cartesian()) + } + + return resolved; + } +}; + +module.exports = LowCmd; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LowState.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LowState.js new file mode 100644 index 00000000..2331eddb --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/LowState.js @@ -0,0 +1,505 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; +let IMU = require('./IMU.js'); +let MotorState = require('./MotorState.js'); +let Cartesian = require('./Cartesian.js'); + +//----------------------------------------------------------- + +class LowState { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.levelFlag = null; + this.commVersion = null; + this.robotID = null; + this.SN = null; + this.bandWidth = null; + this.imu = null; + this.motorState = null; + this.footForce = null; + this.footForceEst = null; + this.tick = null; + this.wirelessRemote = null; + this.reserve = null; + this.crc = null; + this.eeForceRaw = null; + this.eeForce = null; + this.position = null; + this.velocity = null; + this.velocity_w = null; + } + else { + if (initObj.hasOwnProperty('levelFlag')) { + this.levelFlag = initObj.levelFlag + } + else { + this.levelFlag = 0; + } + if (initObj.hasOwnProperty('commVersion')) { + this.commVersion = initObj.commVersion + } + else { + this.commVersion = 0; + } + if (initObj.hasOwnProperty('robotID')) { + this.robotID = initObj.robotID + } + else { + this.robotID = 0; + } + if (initObj.hasOwnProperty('SN')) { + this.SN = initObj.SN + } + else { + this.SN = 0; + } + if (initObj.hasOwnProperty('bandWidth')) { + this.bandWidth = initObj.bandWidth + } + else { + this.bandWidth = 0; + } + if (initObj.hasOwnProperty('imu')) { + this.imu = initObj.imu + } + else { + this.imu = new IMU(); + } + if (initObj.hasOwnProperty('motorState')) { + this.motorState = initObj.motorState + } + else { + this.motorState = new Array(20).fill(new MotorState()); + } + if (initObj.hasOwnProperty('footForce')) { + this.footForce = initObj.footForce + } + else { + this.footForce = new Array(4).fill(0); + } + if (initObj.hasOwnProperty('footForceEst')) { + this.footForceEst = initObj.footForceEst + } + else { + this.footForceEst = new Array(4).fill(0); + } + if (initObj.hasOwnProperty('tick')) { + this.tick = initObj.tick + } + else { + this.tick = 0; + } + if (initObj.hasOwnProperty('wirelessRemote')) { + this.wirelessRemote = initObj.wirelessRemote + } + else { + this.wirelessRemote = new Array(40).fill(0); + } + if (initObj.hasOwnProperty('reserve')) { + this.reserve = initObj.reserve + } + else { + this.reserve = 0; + } + if (initObj.hasOwnProperty('crc')) { + this.crc = initObj.crc + } + else { + this.crc = 0; + } + if (initObj.hasOwnProperty('eeForceRaw')) { + this.eeForceRaw = initObj.eeForceRaw + } + else { + this.eeForceRaw = new Array(4).fill(new Cartesian()); + } + if (initObj.hasOwnProperty('eeForce')) { + this.eeForce = initObj.eeForce + } + else { + this.eeForce = new Array(4).fill(new Cartesian()); + } + if (initObj.hasOwnProperty('position')) { + this.position = initObj.position + } + else { + this.position = new Cartesian(); + } + if (initObj.hasOwnProperty('velocity')) { + this.velocity = initObj.velocity + } + else { + this.velocity = new Cartesian(); + } + if (initObj.hasOwnProperty('velocity_w')) { + this.velocity_w = initObj.velocity_w + } + else { + this.velocity_w = new Cartesian(); + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type LowState + // Serialize message field [levelFlag] + bufferOffset = _serializer.uint8(obj.levelFlag, buffer, bufferOffset); + // Serialize message field [commVersion] + bufferOffset = _serializer.uint16(obj.commVersion, buffer, bufferOffset); + // Serialize message field [robotID] + bufferOffset = _serializer.uint16(obj.robotID, buffer, bufferOffset); + // Serialize message field [SN] + bufferOffset = _serializer.uint32(obj.SN, buffer, bufferOffset); + // Serialize message field [bandWidth] + bufferOffset = _serializer.uint8(obj.bandWidth, buffer, bufferOffset); + // Serialize message field [imu] + bufferOffset = IMU.serialize(obj.imu, buffer, bufferOffset); + // Check that the constant length array field [motorState] has the right length + if (obj.motorState.length !== 20) { + throw new Error('Unable to serialize array field motorState - length must be 20') + } + // Serialize message field [motorState] + obj.motorState.forEach((val) => { + bufferOffset = MotorState.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [footForce] has the right length + if (obj.footForce.length !== 4) { + throw new Error('Unable to serialize array field footForce - length must be 4') + } + // Serialize message field [footForce] + bufferOffset = _arraySerializer.int16(obj.footForce, buffer, bufferOffset, 4); + // Check that the constant length array field [footForceEst] has the right length + if (obj.footForceEst.length !== 4) { + throw new Error('Unable to serialize array field footForceEst - length must be 4') + } + // Serialize message field [footForceEst] + bufferOffset = _arraySerializer.int16(obj.footForceEst, buffer, bufferOffset, 4); + // Serialize message field [tick] + bufferOffset = _serializer.uint32(obj.tick, buffer, bufferOffset); + // Check that the constant length array field [wirelessRemote] has the right length + if (obj.wirelessRemote.length !== 40) { + throw new Error('Unable to serialize array field wirelessRemote - length must be 40') + } + // Serialize message field [wirelessRemote] + bufferOffset = _arraySerializer.uint8(obj.wirelessRemote, buffer, bufferOffset, 40); + // Serialize message field [reserve] + bufferOffset = _serializer.uint32(obj.reserve, buffer, bufferOffset); + // Serialize message field [crc] + bufferOffset = _serializer.uint32(obj.crc, buffer, bufferOffset); + // Check that the constant length array field [eeForceRaw] has the right length + if (obj.eeForceRaw.length !== 4) { + throw new Error('Unable to serialize array field eeForceRaw - length must be 4') + } + // Serialize message field [eeForceRaw] + obj.eeForceRaw.forEach((val) => { + bufferOffset = Cartesian.serialize(val, buffer, bufferOffset); + }); + // Check that the constant length array field [eeForce] has the right length + if (obj.eeForce.length !== 4) { + throw new Error('Unable to serialize array field eeForce - length must be 4') + } + // Serialize message field [eeForce] + obj.eeForce.forEach((val) => { + bufferOffset = Cartesian.serialize(val, buffer, bufferOffset); + }); + // Serialize message field [position] + bufferOffset = Cartesian.serialize(obj.position, buffer, bufferOffset); + // Serialize message field [velocity] + bufferOffset = Cartesian.serialize(obj.velocity, buffer, bufferOffset); + // Serialize message field [velocity_w] + bufferOffset = Cartesian.serialize(obj.velocity_w, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type LowState + let len; + let data = new LowState(null); + // Deserialize message field [levelFlag] + data.levelFlag = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [commVersion] + data.commVersion = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [robotID] + data.robotID = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [SN] + data.SN = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [bandWidth] + data.bandWidth = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [imu] + data.imu = IMU.deserialize(buffer, bufferOffset); + // Deserialize message field [motorState] + len = 20; + data.motorState = new Array(len); + for (let i = 0; i < len; ++i) { + data.motorState[i] = MotorState.deserialize(buffer, bufferOffset) + } + // Deserialize message field [footForce] + data.footForce = _arrayDeserializer.int16(buffer, bufferOffset, 4) + // Deserialize message field [footForceEst] + data.footForceEst = _arrayDeserializer.int16(buffer, bufferOffset, 4) + // Deserialize message field [tick] + data.tick = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [wirelessRemote] + data.wirelessRemote = _arrayDeserializer.uint8(buffer, bufferOffset, 40) + // Deserialize message field [reserve] + data.reserve = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [crc] + data.crc = _deserializer.uint32(buffer, bufferOffset); + // Deserialize message field [eeForceRaw] + len = 4; + data.eeForceRaw = new Array(len); + for (let i = 0; i < len; ++i) { + data.eeForceRaw[i] = Cartesian.deserialize(buffer, bufferOffset) + } + // Deserialize message field [eeForce] + len = 4; + data.eeForce = new Array(len); + for (let i = 0; i < len; ++i) { + data.eeForce[i] = Cartesian.deserialize(buffer, bufferOffset) + } + // Deserialize message field [position] + data.position = Cartesian.deserialize(buffer, bufferOffset); + // Deserialize message field [velocity] + data.velocity = Cartesian.deserialize(buffer, bufferOffset); + // Deserialize message field [velocity_w] + data.velocity_w = Cartesian.deserialize(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + return 217; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/LowState'; + } + + static md5sum() { + //Returns md5sum for a message object + return 'cef9d4f6b5a89bd6330896affb1bca88'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + uint8 levelFlag + uint16 commVersion # Old version Aliengo does not have + uint16 robotID # Old version Aliengo does not have + uint32 SN # Old version Aliengo does not have + uint8 bandWidth # Old version Aliengo does not have + IMU imu + MotorState[20] motorState + int16[4] footForce # force sensors # Old version Aliengo is different + int16[4] footForceEst # force sensors # Old version Aliengo does not have + uint32 tick # reference real-time from motion controller (unit: us) + uint8[40] wirelessRemote # wireless commands + uint32 reserve # Old version Aliengo does not have + uint32 crc + + # Old version Aliengo does not have: + Cartesian[4] eeForceRaw + Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization + Cartesian position # will delete + Cartesian velocity # will delete + Cartesian velocity_w # will delete + + ================================================================================ + MSG: unitree_legged_msgs/IMU + float32[4] quaternion + float32[3] gyroscope + float32[3] accelerometer + int8 temperature + ================================================================================ + MSG: unitree_legged_msgs/MotorState + uint8 mode # motor current mode + float32 q # motor current position（rad） + float32 dq # motor current speed（rad/s） + float32 ddq # motor current speed（rad/s） + float32 tauEst # current estimated output torque（N*m） + float32 q_raw # motor current position（rad） + float32 dq_raw # motor current speed（rad/s） + float32 ddq_raw # motor current speed（rad/s） + int8 temperature # motor temperature（slow conduction of temperature leads to lag） + uint32[2] reserve + ================================================================================ + MSG: unitree_legged_msgs/Cartesian + float32 x + float32 y + float32 z + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new LowState(null); + if (msg.levelFlag !== undefined) { + resolved.levelFlag = msg.levelFlag; + } + else { + resolved.levelFlag = 0 + } + + if (msg.commVersion !== undefined) { + resolved.commVersion = msg.commVersion; + } + else { + resolved.commVersion = 0 + } + + if (msg.robotID !== undefined) { + resolved.robotID = msg.robotID; + } + else { + resolved.robotID = 0 + } + + if (msg.SN !== undefined) { + resolved.SN = msg.SN; + } + else { + resolved.SN = 0 + } + + if (msg.bandWidth !== undefined) { + resolved.bandWidth = msg.bandWidth; + } + else { + resolved.bandWidth = 0 + } + + if (msg.imu !== undefined) { + resolved.imu = IMU.Resolve(msg.imu) + } + else { + resolved.imu = new IMU() + } + + if (msg.motorState !== undefined) { + resolved.motorState = new Array(20) + for (let i = 0; i < resolved.motorState.length; ++i) { + if (msg.motorState.length > i) { + resolved.motorState[i] = MotorState.Resolve(msg.motorState[i]); + } + else { + resolved.motorState[i] = new MotorState(); + } + } + } + else { + resolved.motorState = new Array(20).fill(new MotorState()) + } + + if (msg.footForce !== undefined) { + resolved.footForce = msg.footForce; + } + else { + resolved.footForce = new Array(4).fill(0) + } + + if (msg.footForceEst !== undefined) { + resolved.footForceEst = msg.footForceEst; + } + else { + resolved.footForceEst = new Array(4).fill(0) + } + + if (msg.tick !== undefined) { + resolved.tick = msg.tick; + } + else { + resolved.tick = 0 + } + + if (msg.wirelessRemote !== undefined) { + resolved.wirelessRemote = msg.wirelessRemote; + } + else { + resolved.wirelessRemote = new Array(40).fill(0) + } + + if (msg.reserve !== undefined) { + resolved.reserve = msg.reserve; + } + else { + resolved.reserve = 0 + } + + if (msg.crc !== undefined) { + resolved.crc = msg.crc; + } + else { + resolved.crc = 0 + } + + if (msg.eeForceRaw !== undefined) { + resolved.eeForceRaw = new Array(4) + for (let i = 0; i < resolved.eeForceRaw.length; ++i) { + if (msg.eeForceRaw.length > i) { + resolved.eeForceRaw[i] = Cartesian.Resolve(msg.eeForceRaw[i]); + } + else { + resolved.eeForceRaw[i] = new Cartesian(); + } + } + } + else { + resolved.eeForceRaw = new Array(4).fill(new Cartesian()) + } + + if (msg.eeForce !== undefined) { + resolved.eeForce = new Array(4) + for (let i = 0; i < resolved.eeForce.length; ++i) { + if (msg.eeForce.length > i) { + resolved.eeForce[i] = Cartesian.Resolve(msg.eeForce[i]); + } + else { + resolved.eeForce[i] = new Cartesian(); + } + } + } + else { + resolved.eeForce = new Array(4).fill(new Cartesian()) + } + + if (msg.position !== undefined) { + resolved.position = Cartesian.Resolve(msg.position) + } + else { + resolved.position = new Cartesian() + } + + if (msg.velocity !== undefined) { + resolved.velocity = Cartesian.Resolve(msg.velocity) + } + else { + resolved.velocity = new Cartesian() + } + + if (msg.velocity_w !== undefined) { + resolved.velocity_w = Cartesian.Resolve(msg.velocity_w) + } + else { + resolved.velocity_w = new Cartesian() + } + + return resolved; + } +}; + +module.exports = LowState; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/MotorCmd.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/MotorCmd.js new file mode 100644 index 00000000..84c65cb9 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/MotorCmd.js @@ -0,0 +1,205 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + +class MotorCmd { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.mode = null; + this.q = null; + this.dq = null; + this.tau = null; + this.Kp = null; + this.Kd = null; + this.reserve = null; + } + else { + if (initObj.hasOwnProperty('mode')) { + this.mode = initObj.mode + } + else { + this.mode = 0; + } + if (initObj.hasOwnProperty('q')) { + this.q = initObj.q + } + else { + this.q = 0.0; + } + if (initObj.hasOwnProperty('dq')) { + this.dq = initObj.dq + } + else { + this.dq = 0.0; + } + if (initObj.hasOwnProperty('tau')) { + this.tau = initObj.tau + } + else { + this.tau = 0.0; + } + if (initObj.hasOwnProperty('Kp')) { + this.Kp = initObj.Kp + } + else { + this.Kp = 0.0; + } + if (initObj.hasOwnProperty('Kd')) { + this.Kd = initObj.Kd + } + else { + this.Kd = 0.0; + } + if (initObj.hasOwnProperty('reserve')) { + this.reserve = initObj.reserve + } + else { + this.reserve = new Array(3).fill(0); + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type MotorCmd + // Serialize message field [mode] + bufferOffset = _serializer.uint8(obj.mode, buffer, bufferOffset); + // Serialize message field [q] + bufferOffset = _serializer.float32(obj.q, buffer, bufferOffset); + // Serialize message field [dq] + bufferOffset = _serializer.float32(obj.dq, buffer, bufferOffset); + // Serialize message field [tau] + bufferOffset = _serializer.float32(obj.tau, buffer, bufferOffset); + // Serialize message field [Kp] + bufferOffset = _serializer.float32(obj.Kp, buffer, bufferOffset); + // Serialize message field [Kd] + bufferOffset = _serializer.float32(obj.Kd, buffer, bufferOffset); + // Check that the constant length array field [reserve] has the right length + if (obj.reserve.length !== 3) { + throw new Error('Unable to serialize array field reserve - length must be 3') + } + // Serialize message field [reserve] + bufferOffset = _arraySerializer.uint32(obj.reserve, buffer, bufferOffset, 3); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type MotorCmd + let len; + let data = new MotorCmd(null); + // Deserialize message field [mode] + data.mode = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [q] + data.q = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [dq] + data.dq = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [tau] + data.tau = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [Kp] + data.Kp = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [Kd] + data.Kd = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [reserve] + data.reserve = _arrayDeserializer.uint32(buffer, bufferOffset, 3) + return data; + } + + static getMessageSize(object) { + return 33; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/MotorCmd'; + } + + static md5sum() { + //Returns md5sum for a message object + return 'bbb3b7d91319c3a1b99055f0149ba221'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + uint8 mode # motor target mode + float32 q # motor target position + float32 dq # motor target velocity + float32 tau # motor target torque + float32 Kp # motor spring stiffness coefficient + float32 Kd # motor damper coefficient + uint32[3] reserve # motor target torque + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new MotorCmd(null); + if (msg.mode !== undefined) { + resolved.mode = msg.mode; + } + else { + resolved.mode = 0 + } + + if (msg.q !== undefined) { + resolved.q = msg.q; + } + else { + resolved.q = 0.0 + } + + if (msg.dq !== undefined) { + resolved.dq = msg.dq; + } + else { + resolved.dq = 0.0 + } + + if (msg.tau !== undefined) { + resolved.tau = msg.tau; + } + else { + resolved.tau = 0.0 + } + + if (msg.Kp !== undefined) { + resolved.Kp = msg.Kp; + } + else { + resolved.Kp = 0.0 + } + + if (msg.Kd !== undefined) { + resolved.Kd = msg.Kd; + } + else { + resolved.Kd = 0.0 + } + + if (msg.reserve !== undefined) { + resolved.reserve = msg.reserve; + } + else { + resolved.reserve = new Array(3).fill(0) + } + + return resolved; + } +}; + +module.exports = MotorCmd; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/MotorState.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/MotorState.js new file mode 100644 index 00000000..9e0c9f9b --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/MotorState.js @@ -0,0 +1,262 @@ +// Auto-generated. Do not edit! + +// (in-package unitree_legged_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + +class MotorState { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.mode = null; + this.q = null; + this.dq = null; + this.ddq = null; + this.tauEst = null; + this.q_raw = null; + this.dq_raw = null; + this.ddq_raw = null; + this.temperature = null; + this.reserve = null; + } + else { + if (initObj.hasOwnProperty('mode')) { + this.mode = initObj.mode + } + else { + this.mode = 0; + } + if (initObj.hasOwnProperty('q')) { + this.q = initObj.q + } + else { + this.q = 0.0; + } + if (initObj.hasOwnProperty('dq')) { + this.dq = initObj.dq + } + else { + this.dq = 0.0; + } + if (initObj.hasOwnProperty('ddq')) { + this.ddq = initObj.ddq + } + else { + this.ddq = 0.0; + } + if (initObj.hasOwnProperty('tauEst')) { + this.tauEst = initObj.tauEst + } + else { + this.tauEst = 0.0; + } + if (initObj.hasOwnProperty('q_raw')) { + this.q_raw = initObj.q_raw + } + else { + this.q_raw = 0.0; + } + if (initObj.hasOwnProperty('dq_raw')) { + this.dq_raw = initObj.dq_raw + } + else { + this.dq_raw = 0.0; + } + if (initObj.hasOwnProperty('ddq_raw')) { + this.ddq_raw = initObj.ddq_raw + } + else { + this.ddq_raw = 0.0; + } + if (initObj.hasOwnProperty('temperature')) { + this.temperature = initObj.temperature + } + else { + this.temperature = 0; + } + if (initObj.hasOwnProperty('reserve')) { + this.reserve = initObj.reserve + } + else { + this.reserve = new Array(2).fill(0); + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type MotorState + // Serialize message field [mode] + bufferOffset = _serializer.uint8(obj.mode, buffer, bufferOffset); + // Serialize message field [q] + bufferOffset = _serializer.float32(obj.q, buffer, bufferOffset); + // Serialize message field [dq] + bufferOffset = _serializer.float32(obj.dq, buffer, bufferOffset); + // Serialize message field [ddq] + bufferOffset = _serializer.float32(obj.ddq, buffer, bufferOffset); + // Serialize message field [tauEst] + bufferOffset = _serializer.float32(obj.tauEst, buffer, bufferOffset); + // Serialize message field [q_raw] + bufferOffset = _serializer.float32(obj.q_raw, buffer, bufferOffset); + // Serialize message field [dq_raw] + bufferOffset = _serializer.float32(obj.dq_raw, buffer, bufferOffset); + // Serialize message field [ddq_raw] + bufferOffset = _serializer.float32(obj.ddq_raw, buffer, bufferOffset); + // Serialize message field [temperature] + bufferOffset = _serializer.int8(obj.temperature, buffer, bufferOffset); + // Check that the constant length array field [reserve] has the right length + if (obj.reserve.length !== 2) { + throw new Error('Unable to serialize array field reserve - length must be 2') + } + // Serialize message field [reserve] + bufferOffset = _arraySerializer.uint32(obj.reserve, buffer, bufferOffset, 2); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type MotorState + let len; + let data = new MotorState(null); + // Deserialize message field [mode] + data.mode = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [q] + data.q = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [dq] + data.dq = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [ddq] + data.ddq = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [tauEst] + data.tauEst = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [q_raw] + data.q_raw = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [dq_raw] + data.dq_raw = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [ddq_raw] + data.ddq_raw = _deserializer.float32(buffer, bufferOffset); + // Deserialize message field [temperature] + data.temperature = _deserializer.int8(buffer, bufferOffset); + // Deserialize message field [reserve] + data.reserve = _arrayDeserializer.uint32(buffer, bufferOffset, 2) + return data; + } + + static getMessageSize(object) { + return 38; + } + + static datatype() { + // Returns string type for a message object + return 'unitree_legged_msgs/MotorState'; + } + + static md5sum() { + //Returns md5sum for a message object + return '94c55ee3b7852be2bd437b20ce12a254'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + uint8 mode # motor current mode + float32 q # motor current position（rad） + float32 dq # motor current speed（rad/s） + float32 ddq # motor current speed（rad/s） + float32 tauEst # current estimated output torque（N*m） + float32 q_raw # motor current position（rad） + float32 dq_raw # motor current speed（rad/s） + float32 ddq_raw # motor current speed（rad/s） + int8 temperature # motor temperature（slow conduction of temperature leads to lag） + uint32[2] reserve + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new MotorState(null); + if (msg.mode !== undefined) { + resolved.mode = msg.mode; + } + else { + resolved.mode = 0 + } + + if (msg.q !== undefined) { + resolved.q = msg.q; + } + else { + resolved.q = 0.0 + } + + if (msg.dq !== undefined) { + resolved.dq = msg.dq; + } + else { + resolved.dq = 0.0 + } + + if (msg.ddq !== undefined) { + resolved.ddq = msg.ddq; + } + else { + resolved.ddq = 0.0 + } + + if (msg.tauEst !== undefined) { + resolved.tauEst = msg.tauEst; + } + else { + resolved.tauEst = 0.0 + } + + if (msg.q_raw !== undefined) { + resolved.q_raw = msg.q_raw; + } + else { + resolved.q_raw = 0.0 + } + + if (msg.dq_raw !== undefined) { + resolved.dq_raw = msg.dq_raw; + } + else { + resolved.dq_raw = 0.0 + } + + if (msg.ddq_raw !== undefined) { + resolved.ddq_raw = msg.ddq_raw; + } + else { + resolved.ddq_raw = 0.0 + } + + if (msg.temperature !== undefined) { + resolved.temperature = msg.temperature; + } + else { + resolved.temperature = 0 + } + + if (msg.reserve !== undefined) { + resolved.reserve = msg.reserve; + } + else { + resolved.reserve = new Array(2).fill(0) + } + + return resolved; + } +}; + +module.exports = MotorState; diff --git a/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/_index.js b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/_index.js new file mode 100644 index 00000000..7b6eafbb --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/gennodejs/ros/unitree_legged_msgs/msg/_index.js @@ -0,0 +1,24 @@ + +"use strict"; + +let LowCmd = require('./LowCmd.js'); +let Cartesian = require('./Cartesian.js'); +let MotorCmd = require('./MotorCmd.js'); +let HighState = require('./HighState.js'); +let LowState = require('./LowState.js'); +let HighCmd = require('./HighCmd.js'); +let LED = require('./LED.js'); +let IMU = require('./IMU.js'); +let MotorState = require('./MotorState.js'); + +module.exports = { + LowCmd: LowCmd, + Cartesian: Cartesian, + MotorCmd: MotorCmd, + HighState: HighState, + LowState: LowState, + HighCmd: HighCmd, + LED: LED, + IMU: IMU, + MotorState: MotorState, +}; diff --git a/src/Joint_Rescue_development/devel/share/librviz_tutorial/cmake/librviz_tutorialConfig-version.cmake b/src/Joint_Rescue_development/devel/share/librviz_tutorial/cmake/librviz_tutorialConfig-version.cmake new file mode 100644 index 00000000..a0390a5d --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/librviz_tutorial/cmake/librviz_tutorialConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.11.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/devel/share/librviz_tutorial/cmake/librviz_tutorialConfig.cmake b/src/Joint_Rescue_development/devel/share/librviz_tutorial/cmake/librviz_tutorialConfig.cmake new file mode 100644 index 00000000..6cb3154d --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/librviz_tutorial/cmake/librviz_tutorialConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(librviz_tutorial_CONFIG_INCLUDED) + return() +endif() +set(librviz_tutorial_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(librviz_tutorial_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/librviz_tutorial) + set(librviz_tutorial_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(librviz_tutorial_INSTALL_PREFIX "") + set(librviz_tutorial_PREFIX ${librviz_tutorial_DEVEL_PREFIX}) +else() + set(librviz_tutorial_SOURCE_PREFIX "") + set(librviz_tutorial_DEVEL_PREFIX "") + set(librviz_tutorial_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(librviz_tutorial_PREFIX ${librviz_tutorial_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'librviz_tutorial' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(librviz_tutorial_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(librviz_tutorial_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://ros.org/wiki/librviz_tutorial " STREQUAL " ") + set(_report "Check the website 'http://ros.org/wiki/librviz_tutorial' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Mabel Zhang ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${librviz_tutorial_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'librviz_tutorial' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'librviz_tutorial' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/chinhan/Joint_Rescue_development/src/librviz_tutorial/${idir}'. ${_report}") + endif() + _list_append_unique(librviz_tutorial_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND librviz_tutorial_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND librviz_tutorial_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT librviz_tutorial_NUM_DUMMY_TARGETS) + set(librviz_tutorial_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::librviz_tutorial::wrapped-linker-option${librviz_tutorial_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR librviz_tutorial_NUM_DUMMY_TARGETS "${librviz_tutorial_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::librviz_tutorial::wrapped-linker-option${librviz_tutorial_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND librviz_tutorial_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND librviz_tutorial_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND librviz_tutorial_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/devel/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(librviz_tutorial_LIBRARY_DIRS ${lib_path}) + list(APPEND librviz_tutorial_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'librviz_tutorial'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND librviz_tutorial_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(librviz_tutorial_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${librviz_tutorial_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 librviz_tutorial_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${librviz_tutorial_dep}_FOUND) + find_package(${librviz_tutorial_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${librviz_tutorial_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(librviz_tutorial_INCLUDE_DIRS ${${librviz_tutorial_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(librviz_tutorial_LIBRARIES ${librviz_tutorial_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${librviz_tutorial_dep}_LIBRARIES}) + _list_append_deduplicate(librviz_tutorial_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(librviz_tutorial_LIBRARIES ${librviz_tutorial_LIBRARIES}) + + _list_append_unique(librviz_tutorial_LIBRARY_DIRS ${${librviz_tutorial_dep}_LIBRARY_DIRS}) + list(APPEND librviz_tutorial_EXPORTED_TARGETS ${${librviz_tutorial_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${librviz_tutorial_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/devel/share/qt_app/cmake/qt_appConfig-version.cmake b/src/Joint_Rescue_development/devel/share/qt_app/cmake/qt_appConfig-version.cmake new file mode 100644 index 00000000..b2c1126a --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/qt_app/cmake/qt_appConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.1") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/devel/share/qt_app/cmake/qt_appConfig.cmake b/src/Joint_Rescue_development/devel/share/qt_app/cmake/qt_appConfig.cmake new file mode 100644 index 00000000..a7946cca --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/qt_app/cmake/qt_appConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(qt_app_CONFIG_INCLUDED) + return() +endif() +set(qt_app_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(qt_app_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/ui_design) + set(qt_app_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(qt_app_INSTALL_PREFIX "") + set(qt_app_PREFIX ${qt_app_DEVEL_PREFIX}) +else() + set(qt_app_SOURCE_PREFIX "") + set(qt_app_DEVEL_PREFIX "") + set(qt_app_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(qt_app_PREFIX ${qt_app_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'qt_app' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(qt_app_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(qt_app_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT "https://github.com/bluewhalerobot/udp_test/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/bluewhalerobot/udp_test/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://github.com/bluewhalerobot/udp_test " STREQUAL " ") + set(_report "Check the website 'http://github.com/bluewhalerobot/udp_test' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Randoms ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${qt_app_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'qt_app' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'qt_app' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/chinhan/Joint_Rescue_development/src/ui_design/${idir}'. ${_report}") + endif() + _list_append_unique(qt_app_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND qt_app_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND qt_app_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT qt_app_NUM_DUMMY_TARGETS) + set(qt_app_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::qt_app::wrapped-linker-option${qt_app_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR qt_app_NUM_DUMMY_TARGETS "${qt_app_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::qt_app::wrapped-linker-option${qt_app_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND qt_app_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND qt_app_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND qt_app_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/devel/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(qt_app_LIBRARY_DIRS ${lib_path}) + list(APPEND qt_app_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'qt_app'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND qt_app_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(qt_app_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${qt_app_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 qt_app_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${qt_app_dep}_FOUND) + find_package(${qt_app_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${qt_app_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(qt_app_INCLUDE_DIRS ${${qt_app_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(qt_app_LIBRARIES ${qt_app_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${qt_app_dep}_LIBRARIES}) + _list_append_deduplicate(qt_app_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(qt_app_LIBRARIES ${qt_app_LIBRARIES}) + + _list_append_unique(qt_app_LIBRARY_DIRS ${${qt_app_dep}_LIBRARY_DIRS}) + list(APPEND qt_app_EXPORTED_TARGETS ${${qt_app_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${qt_app_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/manifest.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/manifest.l new file mode 100644 index 00000000..9d823594 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/manifest.l @@ -0,0 +1,11 @@ +;; +;; DO NOT EDIT THIS FILE +;; +;; THIS FILE IS AUTOMATICALLY GENERATED +;; FROM /home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/package.xml (0.0.0) +;; USING /opt/ros/kinetic/lib/python2.7/dist-packages/geneus/geneus_main.pyc /opt/ros/kinetic/share/geneus/package.xml (2.2.6) +;; +(ros::load-ros-package "geometry_msgs") +(ros::load-ros-package "sensor_msgs") +(ros::load-ros-package "std_msgs") +(ros::load-ros-package "unitree_legged_msgs") diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/Cartesian.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/Cartesian.l new file mode 100644 index 00000000..6b5109d6 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/Cartesian.l @@ -0,0 +1,86 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::Cartesian) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'Cartesian (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::CARTESIAN") + (make-package "UNITREE_LEGGED_MSGS::CARTESIAN")) + +(in-package "ROS") +;;//! \htmlinclude Cartesian.msg.html + + +(defclass unitree_legged_msgs::Cartesian + :super ros::object + :slots (_x _y _z )) + +(defmethod unitree_legged_msgs::Cartesian + (:init + (&key + ((:x __x) 0.0) + ((:y __y) 0.0) + ((:z __z) 0.0) + ) + (send-super :init) + (setq _x (float __x)) + (setq _y (float __y)) + (setq _z (float __z)) + self) + (:x + (&optional __x) + (if __x (setq _x __x)) _x) + (:y + (&optional __y) + (if __y (setq _y __y)) _y) + (:z + (&optional __z) + (if __z (setq _z __z)) _z) + (:serialization-length + () + (+ + ;; float32 _x + 4 + ;; float32 _y + 4 + ;; float32 _z + 4 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; float32 _x + (sys::poke _x (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _y + (sys::poke _y (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _z + (sys::poke _z (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; float32 _x + (setq _x (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _y + (setq _y (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _z + (setq _z (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; + self) + ) + +(setf (get unitree_legged_msgs::Cartesian :md5sum-) "cc153912f1453b708d221682bc23d9ac") +(setf (get unitree_legged_msgs::Cartesian :datatype-) "unitree_legged_msgs/Cartesian") +(setf (get unitree_legged_msgs::Cartesian :definition-) + "float32 x +float32 y +float32 z +") + + + +(provide :unitree_legged_msgs/Cartesian "cc153912f1453b708d221682bc23d9ac") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/HighCmd.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/HighCmd.l new file mode 100644 index 00000000..942536d3 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/HighCmd.l @@ -0,0 +1,293 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::HighCmd) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'HighCmd (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::HIGHCMD") + (make-package "UNITREE_LEGGED_MSGS::HIGHCMD")) + +(in-package "ROS") +;;//! \htmlinclude HighCmd.msg.html + + +(defclass unitree_legged_msgs::HighCmd + :super ros::object + :slots (_levelFlag _commVersion _robotID _SN _bandWidth _mode _forwardSpeed _sideSpeed _rotateSpeed _bodyHeight _footRaiseHeight _yaw _pitch _roll _led _wirelessRemote _AppRemote _reserve _crc )) + +(defmethod unitree_legged_msgs::HighCmd + (:init + (&key + ((:levelFlag __levelFlag) 0) + ((:commVersion __commVersion) 0) + ((:robotID __robotID) 0) + ((:SN __SN) 0) + ((:bandWidth __bandWidth) 0) + ((:mode __mode) 0) + ((:forwardSpeed __forwardSpeed) 0.0) + ((:sideSpeed __sideSpeed) 0.0) + ((:rotateSpeed __rotateSpeed) 0.0) + ((:bodyHeight __bodyHeight) 0.0) + ((:footRaiseHeight __footRaiseHeight) 0.0) + ((:yaw __yaw) 0.0) + ((:pitch __pitch) 0.0) + ((:roll __roll) 0.0) + ((:led __led) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::LED :init) r)) r)) + ((:wirelessRemote __wirelessRemote) (make-array 40 :initial-element 0 :element-type :char)) + ((:AppRemote __AppRemote) (make-array 40 :initial-element 0 :element-type :char)) + ((:reserve __reserve) 0) + ((:crc __crc) 0) + ) + (send-super :init) + (setq _levelFlag (round __levelFlag)) + (setq _commVersion (round __commVersion)) + (setq _robotID (round __robotID)) + (setq _SN (round __SN)) + (setq _bandWidth (round __bandWidth)) + (setq _mode (round __mode)) + (setq _forwardSpeed (float __forwardSpeed)) + (setq _sideSpeed (float __sideSpeed)) + (setq _rotateSpeed (float __rotateSpeed)) + (setq _bodyHeight (float __bodyHeight)) + (setq _footRaiseHeight (float __footRaiseHeight)) + (setq _yaw (float __yaw)) + (setq _pitch (float __pitch)) + (setq _roll (float __roll)) + (setq _led __led) + (setq _wirelessRemote __wirelessRemote) + (setq _AppRemote __AppRemote) + (setq _reserve (round __reserve)) + (setq _crc (round __crc)) + self) + (:levelFlag + (&optional __levelFlag) + (if __levelFlag (setq _levelFlag __levelFlag)) _levelFlag) + (:commVersion + (&optional __commVersion) + (if __commVersion (setq _commVersion __commVersion)) _commVersion) + (:robotID + (&optional __robotID) + (if __robotID (setq _robotID __robotID)) _robotID) + (:SN + (&optional __SN) + (if __SN (setq _SN __SN)) _SN) + (:bandWidth + (&optional __bandWidth) + (if __bandWidth (setq _bandWidth __bandWidth)) _bandWidth) + (:mode + (&optional __mode) + (if __mode (setq _mode __mode)) _mode) + (:forwardSpeed + (&optional __forwardSpeed) + (if __forwardSpeed (setq _forwardSpeed __forwardSpeed)) _forwardSpeed) + (:sideSpeed + (&optional __sideSpeed) + (if __sideSpeed (setq _sideSpeed __sideSpeed)) _sideSpeed) + (:rotateSpeed + (&optional __rotateSpeed) + (if __rotateSpeed (setq _rotateSpeed __rotateSpeed)) _rotateSpeed) + (:bodyHeight + (&optional __bodyHeight) + (if __bodyHeight (setq _bodyHeight __bodyHeight)) _bodyHeight) + (:footRaiseHeight + (&optional __footRaiseHeight) + (if __footRaiseHeight (setq _footRaiseHeight __footRaiseHeight)) _footRaiseHeight) + (:yaw + (&optional __yaw) + (if __yaw (setq _yaw __yaw)) _yaw) + (:pitch + (&optional __pitch) + (if __pitch (setq _pitch __pitch)) _pitch) + (:roll + (&optional __roll) + (if __roll (setq _roll __roll)) _roll) + (:led + (&rest __led) + (if (keywordp (car __led)) + (send* _led __led) + (progn + (if __led (setq _led (car __led))) + _led))) + (:wirelessRemote + (&optional __wirelessRemote) + (if __wirelessRemote (setq _wirelessRemote __wirelessRemote)) _wirelessRemote) + (:AppRemote + (&optional __AppRemote) + (if __AppRemote (setq _AppRemote __AppRemote)) _AppRemote) + (:reserve + (&optional __reserve) + (if __reserve (setq _reserve __reserve)) _reserve) + (:crc + (&optional __crc) + (if __crc (setq _crc __crc)) _crc) + (:serialization-length + () + (+ + ;; uint8 _levelFlag + 1 + ;; uint16 _commVersion + 2 + ;; uint16 _robotID + 2 + ;; uint32 _SN + 4 + ;; uint8 _bandWidth + 1 + ;; uint8 _mode + 1 + ;; float32 _forwardSpeed + 4 + ;; float32 _sideSpeed + 4 + ;; float32 _rotateSpeed + 4 + ;; float32 _bodyHeight + 4 + ;; float32 _footRaiseHeight + 4 + ;; float32 _yaw + 4 + ;; float32 _pitch + 4 + ;; float32 _roll + 4 + ;; unitree_legged_msgs/LED[4] _led + (apply #'+ (send-all _led :serialization-length)) + ;; uint8[40] _wirelessRemote + (* 1 40) + ;; uint8[40] _AppRemote + (* 1 40) + ;; uint32 _reserve + 4 + ;; int32 _crc + 4 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _levelFlag + (write-byte _levelFlag s) + ;; uint16 _commVersion + (write-word _commVersion s) + ;; uint16 _robotID + (write-word _robotID s) + ;; uint32 _SN + (write-long _SN s) + ;; uint8 _bandWidth + (write-byte _bandWidth s) + ;; uint8 _mode + (write-byte _mode s) + ;; float32 _forwardSpeed + (sys::poke _forwardSpeed (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _sideSpeed + (sys::poke _sideSpeed (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _rotateSpeed + (sys::poke _rotateSpeed (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _bodyHeight + (sys::poke _bodyHeight (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _footRaiseHeight + (sys::poke _footRaiseHeight (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _yaw + (sys::poke _yaw (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _pitch + (sys::poke _pitch (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _roll + (sys::poke _roll (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; unitree_legged_msgs/LED[4] _led + (dolist (elem _led) + (send elem :serialize s) + ) + ;; uint8[40] _wirelessRemote + (princ _wirelessRemote s) + ;; uint8[40] _AppRemote + (princ _AppRemote s) + ;; uint32 _reserve + (write-long _reserve s) + ;; int32 _crc + (write-long _crc s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _levelFlag + (setq _levelFlag (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint16 _commVersion + (setq _commVersion (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint16 _robotID + (setq _robotID (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint32 _SN + (setq _SN (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint8 _bandWidth + (setq _bandWidth (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _mode + (setq _mode (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; float32 _forwardSpeed + (setq _forwardSpeed (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _sideSpeed + (setq _sideSpeed (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _rotateSpeed + (setq _rotateSpeed (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _bodyHeight + (setq _bodyHeight (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _footRaiseHeight + (setq _footRaiseHeight (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _yaw + (setq _yaw (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _pitch + (setq _pitch (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _roll + (setq _roll (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; unitree_legged_msgs/LED[4] _led + (dotimes (i 4) + (send (elt _led i) :deserialize buf ptr-) (incf ptr- (send (elt _led i) :serialization-length)) + ) + ;; uint8[40] _wirelessRemote + (setq _wirelessRemote (make-array 40 :element-type :char)) + (replace _wirelessRemote buf :start2 ptr-) (incf ptr- 40) + ;; uint8[40] _AppRemote + (setq _AppRemote (make-array 40 :element-type :char)) + (replace _AppRemote buf :start2 ptr-) (incf ptr- 40) + ;; uint32 _reserve + (setq _reserve (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; int32 _crc + (setq _crc (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; + self) + ) + +(setf (get unitree_legged_msgs::HighCmd :md5sum-) "1a655499a3f64905db59ceed65ca774a") +(setf (get unitree_legged_msgs::HighCmd :datatype-) "unitree_legged_msgs/HighCmd") +(setf (get unitree_legged_msgs::HighCmd :definition-) + "uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +uint8 mode +float32 forwardSpeed +float32 sideSpeed +float32 rotateSpeed +float32 bodyHeight +float32 footRaiseHeight +float32 yaw +float32 pitch +float32 roll +LED[4] led +uint8[40] wirelessRemote +uint8[40] AppRemote # Old version Aliengo does not have +uint32 reserve # Old version Aliengo does not have +int32 crc +================================================================================ +MSG: unitree_legged_msgs/LED +uint8 r +uint8 g +uint8 b +") + + + +(provide :unitree_legged_msgs/HighCmd "1a655499a3f64905db59ceed65ca774a") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/HighState.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/HighState.l new file mode 100644 index 00000000..6982e648 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/HighState.l @@ -0,0 +1,392 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::HighState) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'HighState (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::HIGHSTATE") + (make-package "UNITREE_LEGGED_MSGS::HIGHSTATE")) + +(in-package "ROS") +;;//! \htmlinclude HighState.msg.html + + +(defclass unitree_legged_msgs::HighState + :super ros::object + :slots (_levelFlag _commVersion _robotID _SN _bandWidth _mode _imu _forwardSpeed _sideSpeed _rotateSpeed _bodyHeight _updownSpeed _forwardPosition _sidePosition _footPosition2Body _footSpeed2Body _footForce _footForceEst _tick _wirelessRemote _reserve _crc _eeForce _jointP )) + +(defmethod unitree_legged_msgs::HighState + (:init + (&key + ((:levelFlag __levelFlag) 0) + ((:commVersion __commVersion) 0) + ((:robotID __robotID) 0) + ((:SN __SN) 0) + ((:bandWidth __bandWidth) 0) + ((:mode __mode) 0) + ((:imu __imu) (instance unitree_legged_msgs::IMU :init)) + ((:forwardSpeed __forwardSpeed) 0.0) + ((:sideSpeed __sideSpeed) 0.0) + ((:rotateSpeed __rotateSpeed) 0.0) + ((:bodyHeight __bodyHeight) 0.0) + ((:updownSpeed __updownSpeed) 0.0) + ((:forwardPosition __forwardPosition) 0.0) + ((:sidePosition __sidePosition) 0.0) + ((:footPosition2Body __footPosition2Body) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::Cartesian :init) r)) r)) + ((:footSpeed2Body __footSpeed2Body) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::Cartesian :init) r)) r)) + ((:footForce __footForce) (make-array 4 :initial-element 0 :element-type :integer)) + ((:footForceEst __footForceEst) (make-array 4 :initial-element 0 :element-type :integer)) + ((:tick __tick) 0) + ((:wirelessRemote __wirelessRemote) (make-array 40 :initial-element 0 :element-type :char)) + ((:reserve __reserve) 0) + ((:crc __crc) 0) + ((:eeForce __eeForce) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::Cartesian :init) r)) r)) + ((:jointP __jointP) (make-array 12 :initial-element 0.0 :element-type :float)) + ) + (send-super :init) + (setq _levelFlag (round __levelFlag)) + (setq _commVersion (round __commVersion)) + (setq _robotID (round __robotID)) + (setq _SN (round __SN)) + (setq _bandWidth (round __bandWidth)) + (setq _mode (round __mode)) + (setq _imu __imu) + (setq _forwardSpeed (float __forwardSpeed)) + (setq _sideSpeed (float __sideSpeed)) + (setq _rotateSpeed (float __rotateSpeed)) + (setq _bodyHeight (float __bodyHeight)) + (setq _updownSpeed (float __updownSpeed)) + (setq _forwardPosition (float __forwardPosition)) + (setq _sidePosition (float __sidePosition)) + (setq _footPosition2Body __footPosition2Body) + (setq _footSpeed2Body __footSpeed2Body) + (setq _footForce __footForce) + (setq _footForceEst __footForceEst) + (setq _tick (round __tick)) + (setq _wirelessRemote __wirelessRemote) + (setq _reserve (round __reserve)) + (setq _crc (round __crc)) + (setq _eeForce __eeForce) + (setq _jointP __jointP) + self) + (:levelFlag + (&optional __levelFlag) + (if __levelFlag (setq _levelFlag __levelFlag)) _levelFlag) + (:commVersion + (&optional __commVersion) + (if __commVersion (setq _commVersion __commVersion)) _commVersion) + (:robotID + (&optional __robotID) + (if __robotID (setq _robotID __robotID)) _robotID) + (:SN + (&optional __SN) + (if __SN (setq _SN __SN)) _SN) + (:bandWidth + (&optional __bandWidth) + (if __bandWidth (setq _bandWidth __bandWidth)) _bandWidth) + (:mode + (&optional __mode) + (if __mode (setq _mode __mode)) _mode) + (:imu + (&rest __imu) + (if (keywordp (car __imu)) + (send* _imu __imu) + (progn + (if __imu (setq _imu (car __imu))) + _imu))) + (:forwardSpeed + (&optional __forwardSpeed) + (if __forwardSpeed (setq _forwardSpeed __forwardSpeed)) _forwardSpeed) + (:sideSpeed + (&optional __sideSpeed) + (if __sideSpeed (setq _sideSpeed __sideSpeed)) _sideSpeed) + (:rotateSpeed + (&optional __rotateSpeed) + (if __rotateSpeed (setq _rotateSpeed __rotateSpeed)) _rotateSpeed) + (:bodyHeight + (&optional __bodyHeight) + (if __bodyHeight (setq _bodyHeight __bodyHeight)) _bodyHeight) + (:updownSpeed + (&optional __updownSpeed) + (if __updownSpeed (setq _updownSpeed __updownSpeed)) _updownSpeed) + (:forwardPosition + (&optional __forwardPosition) + (if __forwardPosition (setq _forwardPosition __forwardPosition)) _forwardPosition) + (:sidePosition + (&optional __sidePosition) + (if __sidePosition (setq _sidePosition __sidePosition)) _sidePosition) + (:footPosition2Body + (&rest __footPosition2Body) + (if (keywordp (car __footPosition2Body)) + (send* _footPosition2Body __footPosition2Body) + (progn + (if __footPosition2Body (setq _footPosition2Body (car __footPosition2Body))) + _footPosition2Body))) + (:footSpeed2Body + (&rest __footSpeed2Body) + (if (keywordp (car __footSpeed2Body)) + (send* _footSpeed2Body __footSpeed2Body) + (progn + (if __footSpeed2Body (setq _footSpeed2Body (car __footSpeed2Body))) + _footSpeed2Body))) + (:footForce + (&optional __footForce) + (if __footForce (setq _footForce __footForce)) _footForce) + (:footForceEst + (&optional __footForceEst) + (if __footForceEst (setq _footForceEst __footForceEst)) _footForceEst) + (:tick + (&optional __tick) + (if __tick (setq _tick __tick)) _tick) + (:wirelessRemote + (&optional __wirelessRemote) + (if __wirelessRemote (setq _wirelessRemote __wirelessRemote)) _wirelessRemote) + (:reserve + (&optional __reserve) + (if __reserve (setq _reserve __reserve)) _reserve) + (:crc + (&optional __crc) + (if __crc (setq _crc __crc)) _crc) + (:eeForce + (&rest __eeForce) + (if (keywordp (car __eeForce)) + (send* _eeForce __eeForce) + (progn + (if __eeForce (setq _eeForce (car __eeForce))) + _eeForce))) + (:jointP + (&optional __jointP) + (if __jointP (setq _jointP __jointP)) _jointP) + (:serialization-length + () + (+ + ;; uint8 _levelFlag + 1 + ;; uint16 _commVersion + 2 + ;; uint16 _robotID + 2 + ;; uint32 _SN + 4 + ;; uint8 _bandWidth + 1 + ;; uint8 _mode + 1 + ;; unitree_legged_msgs/IMU _imu + (send _imu :serialization-length) + ;; float32 _forwardSpeed + 4 + ;; float32 _sideSpeed + 4 + ;; float32 _rotateSpeed + 4 + ;; float32 _bodyHeight + 4 + ;; float32 _updownSpeed + 4 + ;; float32 _forwardPosition + 4 + ;; float32 _sidePosition + 4 + ;; unitree_legged_msgs/Cartesian[4] _footPosition2Body + (apply #'+ (send-all _footPosition2Body :serialization-length)) + ;; unitree_legged_msgs/Cartesian[4] _footSpeed2Body + (apply #'+ (send-all _footSpeed2Body :serialization-length)) + ;; int16[4] _footForce + (* 2 4) + ;; int16[4] _footForceEst + (* 2 4) + ;; uint32 _tick + 4 + ;; uint8[40] _wirelessRemote + (* 1 40) + ;; uint32 _reserve + 4 + ;; uint32 _crc + 4 + ;; unitree_legged_msgs/Cartesian[4] _eeForce + (apply #'+ (send-all _eeForce :serialization-length)) + ;; float32[12] _jointP + (* 4 12) + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _levelFlag + (write-byte _levelFlag s) + ;; uint16 _commVersion + (write-word _commVersion s) + ;; uint16 _robotID + (write-word _robotID s) + ;; uint32 _SN + (write-long _SN s) + ;; uint8 _bandWidth + (write-byte _bandWidth s) + ;; uint8 _mode + (write-byte _mode s) + ;; unitree_legged_msgs/IMU _imu + (send _imu :serialize s) + ;; float32 _forwardSpeed + (sys::poke _forwardSpeed (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _sideSpeed + (sys::poke _sideSpeed (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _rotateSpeed + (sys::poke _rotateSpeed (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _bodyHeight + (sys::poke _bodyHeight (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _updownSpeed + (sys::poke _updownSpeed (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _forwardPosition + (sys::poke _forwardPosition (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _sidePosition + (sys::poke _sidePosition (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; unitree_legged_msgs/Cartesian[4] _footPosition2Body + (dolist (elem _footPosition2Body) + (send elem :serialize s) + ) + ;; unitree_legged_msgs/Cartesian[4] _footSpeed2Body + (dolist (elem _footSpeed2Body) + (send elem :serialize s) + ) + ;; int16[4] _footForce + (dotimes (i 4) + (write-word (elt _footForce i) s) + ) + ;; int16[4] _footForceEst + (dotimes (i 4) + (write-word (elt _footForceEst i) s) + ) + ;; uint32 _tick + (write-long _tick s) + ;; uint8[40] _wirelessRemote + (princ _wirelessRemote s) + ;; uint32 _reserve + (write-long _reserve s) + ;; uint32 _crc + (write-long _crc s) + ;; unitree_legged_msgs/Cartesian[4] _eeForce + (dolist (elem _eeForce) + (send elem :serialize s) + ) + ;; float32[12] _jointP + (dotimes (i 12) + (sys::poke (elt _jointP i) (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _levelFlag + (setq _levelFlag (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint16 _commVersion + (setq _commVersion (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint16 _robotID + (setq _robotID (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint32 _SN + (setq _SN (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint8 _bandWidth + (setq _bandWidth (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _mode + (setq _mode (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; unitree_legged_msgs/IMU _imu + (send _imu :deserialize buf ptr-) (incf ptr- (send _imu :serialization-length)) + ;; float32 _forwardSpeed + (setq _forwardSpeed (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _sideSpeed + (setq _sideSpeed (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _rotateSpeed + (setq _rotateSpeed (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _bodyHeight + (setq _bodyHeight (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _updownSpeed + (setq _updownSpeed (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _forwardPosition + (setq _forwardPosition (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _sidePosition + (setq _sidePosition (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; unitree_legged_msgs/Cartesian[4] _footPosition2Body + (dotimes (i 4) + (send (elt _footPosition2Body i) :deserialize buf ptr-) (incf ptr- (send (elt _footPosition2Body i) :serialization-length)) + ) + ;; unitree_legged_msgs/Cartesian[4] _footSpeed2Body + (dotimes (i 4) + (send (elt _footSpeed2Body i) :deserialize buf ptr-) (incf ptr- (send (elt _footSpeed2Body i) :serialization-length)) + ) + ;; int16[4] _footForce + (dotimes (i (length _footForce)) + (setf (elt _footForce i) (sys::peek buf ptr- :short)) (incf ptr- 2) + ) + ;; int16[4] _footForceEst + (dotimes (i (length _footForceEst)) + (setf (elt _footForceEst i) (sys::peek buf ptr- :short)) (incf ptr- 2) + ) + ;; uint32 _tick + (setq _tick (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint8[40] _wirelessRemote + (setq _wirelessRemote (make-array 40 :element-type :char)) + (replace _wirelessRemote buf :start2 ptr-) (incf ptr- 40) + ;; uint32 _reserve + (setq _reserve (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint32 _crc + (setq _crc (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; unitree_legged_msgs/Cartesian[4] _eeForce + (dotimes (i 4) + (send (elt _eeForce i) :deserialize buf ptr-) (incf ptr- (send (elt _eeForce i) :serialization-length)) + ) + ;; float32[12] _jointP + (dotimes (i (length _jointP)) + (setf (elt _jointP i) (sys::peek buf ptr- :float)) (incf ptr- 4) + ) + ;; + self) + ) + +(setf (get unitree_legged_msgs::HighState :md5sum-) "a12e8b22df896c82203810ec6d521dad") +(setf (get unitree_legged_msgs::HighState :datatype-) "unitree_legged_msgs/HighState") +(setf (get unitree_legged_msgs::HighState :definition-) + "uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +uint8 mode +IMU imu +float32 forwardSpeed +float32 sideSpeed +float32 rotateSpeed +float32 bodyHeight +float32 updownSpeed +float32 forwardPosition # (will be float type next version) # Old version Aliengo is different +float32 sidePosition # (will be float type next version) # Old version Aliengo is different +Cartesian[4] footPosition2Body +Cartesian[4] footSpeed2Body +int16[4] footForce # Old version Aliengo is different +int16[4] footForceEst # Old version Aliengo does not have +uint32 tick +uint8[40] wirelessRemote +uint32 reserve # Old version Aliengo does not have +uint32 crc + +# Under are not defined in SDK yet. # Old version Aliengo does not have +Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization. +float32[12] jointP # for visualization +================================================================================ +MSG: unitree_legged_msgs/IMU +float32[4] quaternion +float32[3] gyroscope +float32[3] accelerometer +int8 temperature +================================================================================ +MSG: unitree_legged_msgs/Cartesian +float32 x +float32 y +float32 z +") + + + +(provide :unitree_legged_msgs/HighState "a12e8b22df896c82203810ec6d521dad") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/IMU.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/IMU.l new file mode 100644 index 00000000..b5300af9 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/IMU.l @@ -0,0 +1,111 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::IMU) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'IMU (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::IMU") + (make-package "UNITREE_LEGGED_MSGS::IMU")) + +(in-package "ROS") +;;//! \htmlinclude IMU.msg.html + + +(defclass unitree_legged_msgs::IMU + :super ros::object + :slots (_quaternion _gyroscope _accelerometer _temperature )) + +(defmethod unitree_legged_msgs::IMU + (:init + (&key + ((:quaternion __quaternion) (make-array 4 :initial-element 0.0 :element-type :float)) + ((:gyroscope __gyroscope) (make-array 3 :initial-element 0.0 :element-type :float)) + ((:accelerometer __accelerometer) (make-array 3 :initial-element 0.0 :element-type :float)) + ((:temperature __temperature) 0) + ) + (send-super :init) + (setq _quaternion __quaternion) + (setq _gyroscope __gyroscope) + (setq _accelerometer __accelerometer) + (setq _temperature (round __temperature)) + self) + (:quaternion + (&optional __quaternion) + (if __quaternion (setq _quaternion __quaternion)) _quaternion) + (:gyroscope + (&optional __gyroscope) + (if __gyroscope (setq _gyroscope __gyroscope)) _gyroscope) + (:accelerometer + (&optional __accelerometer) + (if __accelerometer (setq _accelerometer __accelerometer)) _accelerometer) + (:temperature + (&optional __temperature) + (if __temperature (setq _temperature __temperature)) _temperature) + (:serialization-length + () + (+ + ;; float32[4] _quaternion + (* 4 4) + ;; float32[3] _gyroscope + (* 4 3) + ;; float32[3] _accelerometer + (* 4 3) + ;; int8 _temperature + 1 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; float32[4] _quaternion + (dotimes (i 4) + (sys::poke (elt _quaternion i) (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ) + ;; float32[3] _gyroscope + (dotimes (i 3) + (sys::poke (elt _gyroscope i) (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ) + ;; float32[3] _accelerometer + (dotimes (i 3) + (sys::poke (elt _accelerometer i) (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ) + ;; int8 _temperature + (write-byte _temperature s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; float32[4] _quaternion + (dotimes (i (length _quaternion)) + (setf (elt _quaternion i) (sys::peek buf ptr- :float)) (incf ptr- 4) + ) + ;; float32[3] _gyroscope + (dotimes (i (length _gyroscope)) + (setf (elt _gyroscope i) (sys::peek buf ptr- :float)) (incf ptr- 4) + ) + ;; float32[3] _accelerometer + (dotimes (i (length _accelerometer)) + (setf (elt _accelerometer i) (sys::peek buf ptr- :float)) (incf ptr- 4) + ) + ;; int8 _temperature + (setq _temperature (sys::peek buf ptr- :char)) (incf ptr- 1) + (if (> _temperature 127) (setq _temperature (- _temperature 256))) + ;; + self) + ) + +(setf (get unitree_legged_msgs::IMU :md5sum-) "dd4bb4e42aa2f15aa1fb1b6a3c3752cb") +(setf (get unitree_legged_msgs::IMU :datatype-) "unitree_legged_msgs/IMU") +(setf (get unitree_legged_msgs::IMU :definition-) + "float32[4] quaternion +float32[3] gyroscope +float32[3] accelerometer +int8 temperature +") + + + +(provide :unitree_legged_msgs/IMU "dd4bb4e42aa2f15aa1fb1b6a3c3752cb") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LED.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LED.l new file mode 100644 index 00000000..c19eed2a --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LED.l @@ -0,0 +1,86 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::LED) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'LED (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::LED") + (make-package "UNITREE_LEGGED_MSGS::LED")) + +(in-package "ROS") +;;//! \htmlinclude LED.msg.html + + +(defclass unitree_legged_msgs::LED + :super ros::object + :slots (_r _g _b )) + +(defmethod unitree_legged_msgs::LED + (:init + (&key + ((:r __r) 0) + ((:g __g) 0) + ((:b __b) 0) + ) + (send-super :init) + (setq _r (round __r)) + (setq _g (round __g)) + (setq _b (round __b)) + self) + (:r + (&optional __r) + (if __r (setq _r __r)) _r) + (:g + (&optional __g) + (if __g (setq _g __g)) _g) + (:b + (&optional __b) + (if __b (setq _b __b)) _b) + (:serialization-length + () + (+ + ;; uint8 _r + 1 + ;; uint8 _g + 1 + ;; uint8 _b + 1 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _r + (write-byte _r s) + ;; uint8 _g + (write-byte _g s) + ;; uint8 _b + (write-byte _b s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _r + (setq _r (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _g + (setq _g (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _b + (setq _b (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; + self) + ) + +(setf (get unitree_legged_msgs::LED :md5sum-) "353891e354491c51aabe32df673fb446") +(setf (get unitree_legged_msgs::LED :datatype-) "unitree_legged_msgs/LED") +(setf (get unitree_legged_msgs::LED :definition-) + "uint8 r +uint8 g +uint8 b +") + + + +(provide :unitree_legged_msgs/LED "353891e354491c51aabe32df673fb446") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LowCmd.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LowCmd.l new file mode 100644 index 00000000..f71cbf3a --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LowCmd.l @@ -0,0 +1,227 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::LowCmd) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'LowCmd (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::LOWCMD") + (make-package "UNITREE_LEGGED_MSGS::LOWCMD")) + +(in-package "ROS") +;;//! \htmlinclude LowCmd.msg.html + + +(defclass unitree_legged_msgs::LowCmd + :super ros::object + :slots (_levelFlag _commVersion _robotID _SN _bandWidth _motorCmd _led _wirelessRemote _reserve _crc _ff )) + +(defmethod unitree_legged_msgs::LowCmd + (:init + (&key + ((:levelFlag __levelFlag) 0) + ((:commVersion __commVersion) 0) + ((:robotID __robotID) 0) + ((:SN __SN) 0) + ((:bandWidth __bandWidth) 0) + ((:motorCmd __motorCmd) (let (r) (dotimes (i 20) (push (instance unitree_legged_msgs::MotorCmd :init) r)) r)) + ((:led __led) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::LED :init) r)) r)) + ((:wirelessRemote __wirelessRemote) (make-array 40 :initial-element 0 :element-type :char)) + ((:reserve __reserve) 0) + ((:crc __crc) 0) + ((:ff __ff) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::Cartesian :init) r)) r)) + ) + (send-super :init) + (setq _levelFlag (round __levelFlag)) + (setq _commVersion (round __commVersion)) + (setq _robotID (round __robotID)) + (setq _SN (round __SN)) + (setq _bandWidth (round __bandWidth)) + (setq _motorCmd __motorCmd) + (setq _led __led) + (setq _wirelessRemote __wirelessRemote) + (setq _reserve (round __reserve)) + (setq _crc (round __crc)) + (setq _ff __ff) + self) + (:levelFlag + (&optional __levelFlag) + (if __levelFlag (setq _levelFlag __levelFlag)) _levelFlag) + (:commVersion + (&optional __commVersion) + (if __commVersion (setq _commVersion __commVersion)) _commVersion) + (:robotID + (&optional __robotID) + (if __robotID (setq _robotID __robotID)) _robotID) + (:SN + (&optional __SN) + (if __SN (setq _SN __SN)) _SN) + (:bandWidth + (&optional __bandWidth) + (if __bandWidth (setq _bandWidth __bandWidth)) _bandWidth) + (:motorCmd + (&rest __motorCmd) + (if (keywordp (car __motorCmd)) + (send* _motorCmd __motorCmd) + (progn + (if __motorCmd (setq _motorCmd (car __motorCmd))) + _motorCmd))) + (:led + (&rest __led) + (if (keywordp (car __led)) + (send* _led __led) + (progn + (if __led (setq _led (car __led))) + _led))) + (:wirelessRemote + (&optional __wirelessRemote) + (if __wirelessRemote (setq _wirelessRemote __wirelessRemote)) _wirelessRemote) + (:reserve + (&optional __reserve) + (if __reserve (setq _reserve __reserve)) _reserve) + (:crc + (&optional __crc) + (if __crc (setq _crc __crc)) _crc) + (:ff + (&rest __ff) + (if (keywordp (car __ff)) + (send* _ff __ff) + (progn + (if __ff (setq _ff (car __ff))) + _ff))) + (:serialization-length + () + (+ + ;; uint8 _levelFlag + 1 + ;; uint16 _commVersion + 2 + ;; uint16 _robotID + 2 + ;; uint32 _SN + 4 + ;; uint8 _bandWidth + 1 + ;; unitree_legged_msgs/MotorCmd[20] _motorCmd + (apply #'+ (send-all _motorCmd :serialization-length)) + ;; unitree_legged_msgs/LED[4] _led + (apply #'+ (send-all _led :serialization-length)) + ;; uint8[40] _wirelessRemote + (* 1 40) + ;; uint32 _reserve + 4 + ;; uint32 _crc + 4 + ;; unitree_legged_msgs/Cartesian[4] _ff + (apply #'+ (send-all _ff :serialization-length)) + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _levelFlag + (write-byte _levelFlag s) + ;; uint16 _commVersion + (write-word _commVersion s) + ;; uint16 _robotID + (write-word _robotID s) + ;; uint32 _SN + (write-long _SN s) + ;; uint8 _bandWidth + (write-byte _bandWidth s) + ;; unitree_legged_msgs/MotorCmd[20] _motorCmd + (dolist (elem _motorCmd) + (send elem :serialize s) + ) + ;; unitree_legged_msgs/LED[4] _led + (dolist (elem _led) + (send elem :serialize s) + ) + ;; uint8[40] _wirelessRemote + (princ _wirelessRemote s) + ;; uint32 _reserve + (write-long _reserve s) + ;; uint32 _crc + (write-long _crc s) + ;; unitree_legged_msgs/Cartesian[4] _ff + (dolist (elem _ff) + (send elem :serialize s) + ) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _levelFlag + (setq _levelFlag (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint16 _commVersion + (setq _commVersion (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint16 _robotID + (setq _robotID (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint32 _SN + (setq _SN (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint8 _bandWidth + (setq _bandWidth (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; unitree_legged_msgs/MotorCmd[20] _motorCmd + (dotimes (i 20) + (send (elt _motorCmd i) :deserialize buf ptr-) (incf ptr- (send (elt _motorCmd i) :serialization-length)) + ) + ;; unitree_legged_msgs/LED[4] _led + (dotimes (i 4) + (send (elt _led i) :deserialize buf ptr-) (incf ptr- (send (elt _led i) :serialization-length)) + ) + ;; uint8[40] _wirelessRemote + (setq _wirelessRemote (make-array 40 :element-type :char)) + (replace _wirelessRemote buf :start2 ptr-) (incf ptr- 40) + ;; uint32 _reserve + (setq _reserve (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint32 _crc + (setq _crc (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; unitree_legged_msgs/Cartesian[4] _ff + (dotimes (i 4) + (send (elt _ff i) :deserialize buf ptr-) (incf ptr- (send (elt _ff i) :serialization-length)) + ) + ;; + self) + ) + +(setf (get unitree_legged_msgs::LowCmd :md5sum-) "357432b2562edd0a8e89b9c9f5fc4821") +(setf (get unitree_legged_msgs::LowCmd :datatype-) "unitree_legged_msgs/LowCmd") +(setf (get unitree_legged_msgs::LowCmd :definition-) + "uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +MotorCmd[20] motorCmd +LED[4] led +uint8[40] wirelessRemote +uint32 reserve # Old version Aliengo does not have +uint32 crc + +Cartesian[4] ff # will delete # Old version Aliengo does not have +================================================================================ +MSG: unitree_legged_msgs/MotorCmd +uint8 mode # motor target mode +float32 q # motor target position +float32 dq # motor target velocity +float32 tau # motor target torque +float32 Kp # motor spring stiffness coefficient +float32 Kd # motor damper coefficient +uint32[3] reserve # motor target torque +================================================================================ +MSG: unitree_legged_msgs/LED +uint8 r +uint8 g +uint8 b +================================================================================ +MSG: unitree_legged_msgs/Cartesian +float32 x +float32 y +float32 z +") + + + +(provide :unitree_legged_msgs/LowCmd "357432b2562edd0a8e89b9c9f5fc4821") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LowState.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LowState.l new file mode 100644 index 00000000..aef1715d --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/LowState.l @@ -0,0 +1,341 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::LowState) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'LowState (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::LOWSTATE") + (make-package "UNITREE_LEGGED_MSGS::LOWSTATE")) + +(in-package "ROS") +;;//! \htmlinclude LowState.msg.html + + +(defclass unitree_legged_msgs::LowState + :super ros::object + :slots (_levelFlag _commVersion _robotID _SN _bandWidth _imu _motorState _footForce _footForceEst _tick _wirelessRemote _reserve _crc _eeForceRaw _eeForce _position _velocity _velocity_w )) + +(defmethod unitree_legged_msgs::LowState + (:init + (&key + ((:levelFlag __levelFlag) 0) + ((:commVersion __commVersion) 0) + ((:robotID __robotID) 0) + ((:SN __SN) 0) + ((:bandWidth __bandWidth) 0) + ((:imu __imu) (instance unitree_legged_msgs::IMU :init)) + ((:motorState __motorState) (let (r) (dotimes (i 20) (push (instance unitree_legged_msgs::MotorState :init) r)) r)) + ((:footForce __footForce) (make-array 4 :initial-element 0 :element-type :integer)) + ((:footForceEst __footForceEst) (make-array 4 :initial-element 0 :element-type :integer)) + ((:tick __tick) 0) + ((:wirelessRemote __wirelessRemote) (make-array 40 :initial-element 0 :element-type :char)) + ((:reserve __reserve) 0) + ((:crc __crc) 0) + ((:eeForceRaw __eeForceRaw) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::Cartesian :init) r)) r)) + ((:eeForce __eeForce) (let (r) (dotimes (i 4) (push (instance unitree_legged_msgs::Cartesian :init) r)) r)) + ((:position __position) (instance unitree_legged_msgs::Cartesian :init)) + ((:velocity __velocity) (instance unitree_legged_msgs::Cartesian :init)) + ((:velocity_w __velocity_w) (instance unitree_legged_msgs::Cartesian :init)) + ) + (send-super :init) + (setq _levelFlag (round __levelFlag)) + (setq _commVersion (round __commVersion)) + (setq _robotID (round __robotID)) + (setq _SN (round __SN)) + (setq _bandWidth (round __bandWidth)) + (setq _imu __imu) + (setq _motorState __motorState) + (setq _footForce __footForce) + (setq _footForceEst __footForceEst) + (setq _tick (round __tick)) + (setq _wirelessRemote __wirelessRemote) + (setq _reserve (round __reserve)) + (setq _crc (round __crc)) + (setq _eeForceRaw __eeForceRaw) + (setq _eeForce __eeForce) + (setq _position __position) + (setq _velocity __velocity) + (setq _velocity_w __velocity_w) + self) + (:levelFlag + (&optional __levelFlag) + (if __levelFlag (setq _levelFlag __levelFlag)) _levelFlag) + (:commVersion + (&optional __commVersion) + (if __commVersion (setq _commVersion __commVersion)) _commVersion) + (:robotID + (&optional __robotID) + (if __robotID (setq _robotID __robotID)) _robotID) + (:SN + (&optional __SN) + (if __SN (setq _SN __SN)) _SN) + (:bandWidth + (&optional __bandWidth) + (if __bandWidth (setq _bandWidth __bandWidth)) _bandWidth) + (:imu + (&rest __imu) + (if (keywordp (car __imu)) + (send* _imu __imu) + (progn + (if __imu (setq _imu (car __imu))) + _imu))) + (:motorState + (&rest __motorState) + (if (keywordp (car __motorState)) + (send* _motorState __motorState) + (progn + (if __motorState (setq _motorState (car __motorState))) + _motorState))) + (:footForce + (&optional __footForce) + (if __footForce (setq _footForce __footForce)) _footForce) + (:footForceEst + (&optional __footForceEst) + (if __footForceEst (setq _footForceEst __footForceEst)) _footForceEst) + (:tick + (&optional __tick) + (if __tick (setq _tick __tick)) _tick) + (:wirelessRemote + (&optional __wirelessRemote) + (if __wirelessRemote (setq _wirelessRemote __wirelessRemote)) _wirelessRemote) + (:reserve + (&optional __reserve) + (if __reserve (setq _reserve __reserve)) _reserve) + (:crc + (&optional __crc) + (if __crc (setq _crc __crc)) _crc) + (:eeForceRaw + (&rest __eeForceRaw) + (if (keywordp (car __eeForceRaw)) + (send* _eeForceRaw __eeForceRaw) + (progn + (if __eeForceRaw (setq _eeForceRaw (car __eeForceRaw))) + _eeForceRaw))) + (:eeForce + (&rest __eeForce) + (if (keywordp (car __eeForce)) + (send* _eeForce __eeForce) + (progn + (if __eeForce (setq _eeForce (car __eeForce))) + _eeForce))) + (:position + (&rest __position) + (if (keywordp (car __position)) + (send* _position __position) + (progn + (if __position (setq _position (car __position))) + _position))) + (:velocity + (&rest __velocity) + (if (keywordp (car __velocity)) + (send* _velocity __velocity) + (progn + (if __velocity (setq _velocity (car __velocity))) + _velocity))) + (:velocity_w + (&rest __velocity_w) + (if (keywordp (car __velocity_w)) + (send* _velocity_w __velocity_w) + (progn + (if __velocity_w (setq _velocity_w (car __velocity_w))) + _velocity_w))) + (:serialization-length + () + (+ + ;; uint8 _levelFlag + 1 + ;; uint16 _commVersion + 2 + ;; uint16 _robotID + 2 + ;; uint32 _SN + 4 + ;; uint8 _bandWidth + 1 + ;; unitree_legged_msgs/IMU _imu + (send _imu :serialization-length) + ;; unitree_legged_msgs/MotorState[20] _motorState + (apply #'+ (send-all _motorState :serialization-length)) + ;; int16[4] _footForce + (* 2 4) + ;; int16[4] _footForceEst + (* 2 4) + ;; uint32 _tick + 4 + ;; uint8[40] _wirelessRemote + (* 1 40) + ;; uint32 _reserve + 4 + ;; uint32 _crc + 4 + ;; unitree_legged_msgs/Cartesian[4] _eeForceRaw + (apply #'+ (send-all _eeForceRaw :serialization-length)) + ;; unitree_legged_msgs/Cartesian[4] _eeForce + (apply #'+ (send-all _eeForce :serialization-length)) + ;; unitree_legged_msgs/Cartesian _position + (send _position :serialization-length) + ;; unitree_legged_msgs/Cartesian _velocity + (send _velocity :serialization-length) + ;; unitree_legged_msgs/Cartesian _velocity_w + (send _velocity_w :serialization-length) + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _levelFlag + (write-byte _levelFlag s) + ;; uint16 _commVersion + (write-word _commVersion s) + ;; uint16 _robotID + (write-word _robotID s) + ;; uint32 _SN + (write-long _SN s) + ;; uint8 _bandWidth + (write-byte _bandWidth s) + ;; unitree_legged_msgs/IMU _imu + (send _imu :serialize s) + ;; unitree_legged_msgs/MotorState[20] _motorState + (dolist (elem _motorState) + (send elem :serialize s) + ) + ;; int16[4] _footForce + (dotimes (i 4) + (write-word (elt _footForce i) s) + ) + ;; int16[4] _footForceEst + (dotimes (i 4) + (write-word (elt _footForceEst i) s) + ) + ;; uint32 _tick + (write-long _tick s) + ;; uint8[40] _wirelessRemote + (princ _wirelessRemote s) + ;; uint32 _reserve + (write-long _reserve s) + ;; uint32 _crc + (write-long _crc s) + ;; unitree_legged_msgs/Cartesian[4] _eeForceRaw + (dolist (elem _eeForceRaw) + (send elem :serialize s) + ) + ;; unitree_legged_msgs/Cartesian[4] _eeForce + (dolist (elem _eeForce) + (send elem :serialize s) + ) + ;; unitree_legged_msgs/Cartesian _position + (send _position :serialize s) + ;; unitree_legged_msgs/Cartesian _velocity + (send _velocity :serialize s) + ;; unitree_legged_msgs/Cartesian _velocity_w + (send _velocity_w :serialize s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _levelFlag + (setq _levelFlag (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint16 _commVersion + (setq _commVersion (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint16 _robotID + (setq _robotID (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; uint32 _SN + (setq _SN (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint8 _bandWidth + (setq _bandWidth (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; unitree_legged_msgs/IMU _imu + (send _imu :deserialize buf ptr-) (incf ptr- (send _imu :serialization-length)) + ;; unitree_legged_msgs/MotorState[20] _motorState + (dotimes (i 20) + (send (elt _motorState i) :deserialize buf ptr-) (incf ptr- (send (elt _motorState i) :serialization-length)) + ) + ;; int16[4] _footForce + (dotimes (i (length _footForce)) + (setf (elt _footForce i) (sys::peek buf ptr- :short)) (incf ptr- 2) + ) + ;; int16[4] _footForceEst + (dotimes (i (length _footForceEst)) + (setf (elt _footForceEst i) (sys::peek buf ptr- :short)) (incf ptr- 2) + ) + ;; uint32 _tick + (setq _tick (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint8[40] _wirelessRemote + (setq _wirelessRemote (make-array 40 :element-type :char)) + (replace _wirelessRemote buf :start2 ptr-) (incf ptr- 40) + ;; uint32 _reserve + (setq _reserve (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; uint32 _crc + (setq _crc (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; unitree_legged_msgs/Cartesian[4] _eeForceRaw + (dotimes (i 4) + (send (elt _eeForceRaw i) :deserialize buf ptr-) (incf ptr- (send (elt _eeForceRaw i) :serialization-length)) + ) + ;; unitree_legged_msgs/Cartesian[4] _eeForce + (dotimes (i 4) + (send (elt _eeForce i) :deserialize buf ptr-) (incf ptr- (send (elt _eeForce i) :serialization-length)) + ) + ;; unitree_legged_msgs/Cartesian _position + (send _position :deserialize buf ptr-) (incf ptr- (send _position :serialization-length)) + ;; unitree_legged_msgs/Cartesian _velocity + (send _velocity :deserialize buf ptr-) (incf ptr- (send _velocity :serialization-length)) + ;; unitree_legged_msgs/Cartesian _velocity_w + (send _velocity_w :deserialize buf ptr-) (incf ptr- (send _velocity_w :serialization-length)) + ;; + self) + ) + +(setf (get unitree_legged_msgs::LowState :md5sum-) "cef9d4f6b5a89bd6330896affb1bca88") +(setf (get unitree_legged_msgs::LowState :datatype-) "unitree_legged_msgs/LowState") +(setf (get unitree_legged_msgs::LowState :definition-) + "uint8 levelFlag +uint16 commVersion # Old version Aliengo does not have +uint16 robotID # Old version Aliengo does not have +uint32 SN # Old version Aliengo does not have +uint8 bandWidth # Old version Aliengo does not have +IMU imu +MotorState[20] motorState +int16[4] footForce # force sensors # Old version Aliengo is different +int16[4] footForceEst # force sensors # Old version Aliengo does not have +uint32 tick # reference real-time from motion controller (unit: us) +uint8[40] wirelessRemote # wireless commands +uint32 reserve # Old version Aliengo does not have +uint32 crc + +# Old version Aliengo does not have: +Cartesian[4] eeForceRaw +Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization +Cartesian position # will delete +Cartesian velocity # will delete +Cartesian velocity_w # will delete + +================================================================================ +MSG: unitree_legged_msgs/IMU +float32[4] quaternion +float32[3] gyroscope +float32[3] accelerometer +int8 temperature +================================================================================ +MSG: unitree_legged_msgs/MotorState +uint8 mode # motor current mode +float32 q # motor current position（rad） +float32 dq # motor current speed（rad/s） +float32 ddq # motor current speed（rad/s） +float32 tauEst # current estimated output torque（N*m） +float32 q_raw # motor current position（rad） +float32 dq_raw # motor current speed（rad/s） +float32 ddq_raw # motor current speed（rad/s） +int8 temperature # motor temperature（slow conduction of temperature leads to lag） +uint32[2] reserve +================================================================================ +MSG: unitree_legged_msgs/Cartesian +float32 x +float32 y +float32 z +") + + + +(provide :unitree_legged_msgs/LowState "cef9d4f6b5a89bd6330896affb1bca88") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/MotorCmd.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/MotorCmd.l new file mode 100644 index 00000000..37b8bf6f --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/MotorCmd.l @@ -0,0 +1,138 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::MotorCmd) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'MotorCmd (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::MOTORCMD") + (make-package "UNITREE_LEGGED_MSGS::MOTORCMD")) + +(in-package "ROS") +;;//! \htmlinclude MotorCmd.msg.html + + +(defclass unitree_legged_msgs::MotorCmd + :super ros::object + :slots (_mode _q _dq _tau _Kp _Kd _reserve )) + +(defmethod unitree_legged_msgs::MotorCmd + (:init + (&key + ((:mode __mode) 0) + ((:q __q) 0.0) + ((:dq __dq) 0.0) + ((:tau __tau) 0.0) + ((:Kp __Kp) 0.0) + ((:Kd __Kd) 0.0) + ((:reserve __reserve) (make-array 3 :initial-element 0 :element-type :integer)) + ) + (send-super :init) + (setq _mode (round __mode)) + (setq _q (float __q)) + (setq _dq (float __dq)) + (setq _tau (float __tau)) + (setq _Kp (float __Kp)) + (setq _Kd (float __Kd)) + (setq _reserve __reserve) + self) + (:mode + (&optional __mode) + (if __mode (setq _mode __mode)) _mode) + (:q + (&optional __q) + (if __q (setq _q __q)) _q) + (:dq + (&optional __dq) + (if __dq (setq _dq __dq)) _dq) + (:tau + (&optional __tau) + (if __tau (setq _tau __tau)) _tau) + (:Kp + (&optional __Kp) + (if __Kp (setq _Kp __Kp)) _Kp) + (:Kd + (&optional __Kd) + (if __Kd (setq _Kd __Kd)) _Kd) + (:reserve + (&optional __reserve) + (if __reserve (setq _reserve __reserve)) _reserve) + (:serialization-length + () + (+ + ;; uint8 _mode + 1 + ;; float32 _q + 4 + ;; float32 _dq + 4 + ;; float32 _tau + 4 + ;; float32 _Kp + 4 + ;; float32 _Kd + 4 + ;; uint32[3] _reserve + (* 4 3) + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _mode + (write-byte _mode s) + ;; float32 _q + (sys::poke _q (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _dq + (sys::poke _dq (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _tau + (sys::poke _tau (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _Kp + (sys::poke _Kp (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _Kd + (sys::poke _Kd (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; uint32[3] _reserve + (dotimes (i 3) + (write-long (elt _reserve i) s) + ) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _mode + (setq _mode (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; float32 _q + (setq _q (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _dq + (setq _dq (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _tau + (setq _tau (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _Kp + (setq _Kp (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _Kd + (setq _Kd (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; uint32[3] _reserve + (dotimes (i (length _reserve)) + (setf (elt _reserve i) (sys::peek buf ptr- :integer)) (incf ptr- 4) + ) + ;; + self) + ) + +(setf (get unitree_legged_msgs::MotorCmd :md5sum-) "bbb3b7d91319c3a1b99055f0149ba221") +(setf (get unitree_legged_msgs::MotorCmd :datatype-) "unitree_legged_msgs/MotorCmd") +(setf (get unitree_legged_msgs::MotorCmd :definition-) + "uint8 mode # motor target mode +float32 q # motor target position +float32 dq # motor target velocity +float32 tau # motor target torque +float32 Kp # motor spring stiffness coefficient +float32 Kd # motor damper coefficient +uint32[3] reserve # motor target torque +") + + + +(provide :unitree_legged_msgs/MotorCmd "bbb3b7d91319c3a1b99055f0149ba221") + + diff --git a/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/MotorState.l b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/MotorState.l new file mode 100644 index 00000000..b8c95666 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/roseus/ros/unitree_legged_msgs/msg/MotorState.l @@ -0,0 +1,175 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'unitree_legged_msgs::MotorState) + (if (not (find-package "UNITREE_LEGGED_MSGS")) + (make-package "UNITREE_LEGGED_MSGS")) + (shadow 'MotorState (find-package "UNITREE_LEGGED_MSGS"))) +(unless (find-package "UNITREE_LEGGED_MSGS::MOTORSTATE") + (make-package "UNITREE_LEGGED_MSGS::MOTORSTATE")) + +(in-package "ROS") +;;//! \htmlinclude MotorState.msg.html + + +(defclass unitree_legged_msgs::MotorState + :super ros::object + :slots (_mode _q _dq _ddq _tauEst _q_raw _dq_raw _ddq_raw _temperature _reserve )) + +(defmethod unitree_legged_msgs::MotorState + (:init + (&key + ((:mode __mode) 0) + ((:q __q) 0.0) + ((:dq __dq) 0.0) + ((:ddq __ddq) 0.0) + ((:tauEst __tauEst) 0.0) + ((:q_raw __q_raw) 0.0) + ((:dq_raw __dq_raw) 0.0) + ((:ddq_raw __ddq_raw) 0.0) + ((:temperature __temperature) 0) + ((:reserve __reserve) (make-array 2 :initial-element 0 :element-type :integer)) + ) + (send-super :init) + (setq _mode (round __mode)) + (setq _q (float __q)) + (setq _dq (float __dq)) + (setq _ddq (float __ddq)) + (setq _tauEst (float __tauEst)) + (setq _q_raw (float __q_raw)) + (setq _dq_raw (float __dq_raw)) + (setq _ddq_raw (float __ddq_raw)) + (setq _temperature (round __temperature)) + (setq _reserve __reserve) + self) + (:mode + (&optional __mode) + (if __mode (setq _mode __mode)) _mode) + (:q + (&optional __q) + (if __q (setq _q __q)) _q) + (:dq + (&optional __dq) + (if __dq (setq _dq __dq)) _dq) + (:ddq + (&optional __ddq) + (if __ddq (setq _ddq __ddq)) _ddq) + (:tauEst + (&optional __tauEst) + (if __tauEst (setq _tauEst __tauEst)) _tauEst) + (:q_raw + (&optional __q_raw) + (if __q_raw (setq _q_raw __q_raw)) _q_raw) + (:dq_raw + (&optional __dq_raw) + (if __dq_raw (setq _dq_raw __dq_raw)) _dq_raw) + (:ddq_raw + (&optional __ddq_raw) + (if __ddq_raw (setq _ddq_raw __ddq_raw)) _ddq_raw) + (:temperature + (&optional __temperature) + (if __temperature (setq _temperature __temperature)) _temperature) + (:reserve + (&optional __reserve) + (if __reserve (setq _reserve __reserve)) _reserve) + (:serialization-length + () + (+ + ;; uint8 _mode + 1 + ;; float32 _q + 4 + ;; float32 _dq + 4 + ;; float32 _ddq + 4 + ;; float32 _tauEst + 4 + ;; float32 _q_raw + 4 + ;; float32 _dq_raw + 4 + ;; float32 _ddq_raw + 4 + ;; int8 _temperature + 1 + ;; uint32[2] _reserve + (* 4 2) + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _mode + (write-byte _mode s) + ;; float32 _q + (sys::poke _q (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _dq + (sys::poke _dq (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _ddq + (sys::poke _ddq (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _tauEst + (sys::poke _tauEst (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _q_raw + (sys::poke _q_raw (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _dq_raw + (sys::poke _dq_raw (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; float32 _ddq_raw + (sys::poke _ddq_raw (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ;; int8 _temperature + (write-byte _temperature s) + ;; uint32[2] _reserve + (dotimes (i 2) + (write-long (elt _reserve i) s) + ) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _mode + (setq _mode (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; float32 _q + (setq _q (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _dq + (setq _dq (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _ddq + (setq _ddq (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _tauEst + (setq _tauEst (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _q_raw + (setq _q_raw (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _dq_raw + (setq _dq_raw (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; float32 _ddq_raw + (setq _ddq_raw (sys::peek buf ptr- :float)) (incf ptr- 4) + ;; int8 _temperature + (setq _temperature (sys::peek buf ptr- :char)) (incf ptr- 1) + (if (> _temperature 127) (setq _temperature (- _temperature 256))) + ;; uint32[2] _reserve + (dotimes (i (length _reserve)) + (setf (elt _reserve i) (sys::peek buf ptr- :integer)) (incf ptr- 4) + ) + ;; + self) + ) + +(setf (get unitree_legged_msgs::MotorState :md5sum-) "94c55ee3b7852be2bd437b20ce12a254") +(setf (get unitree_legged_msgs::MotorState :datatype-) "unitree_legged_msgs/MotorState") +(setf (get unitree_legged_msgs::MotorState :definition-) + "uint8 mode # motor current mode +float32 q # motor current position（rad） +float32 dq # motor current speed（rad/s） +float32 ddq # motor current speed（rad/s） +float32 tauEst # current estimated output torque（N*m） +float32 q_raw # motor current position（rad） +float32 dq_raw # motor current speed（rad/s） +float32 ddq_raw # motor current speed（rad/s） +int8 temperature # motor temperature（slow conduction of temperature leads to lag） +uint32[2] reserve +") + + + +(provide :unitree_legged_msgs/MotorState "94c55ee3b7852be2bd437b20ce12a254") + + diff --git a/src/Joint_Rescue_development/devel/share/udp_port/cmake/udp_portConfig-version.cmake b/src/Joint_Rescue_development/devel/share/udp_port/cmake/udp_portConfig-version.cmake new file mode 100644 index 00000000..b2c1126a --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/udp_port/cmake/udp_portConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.1") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/devel/share/udp_port/cmake/udp_portConfig.cmake b/src/Joint_Rescue_development/devel/share/udp_port/cmake/udp_portConfig.cmake new file mode 100644 index 00000000..0db2fcdf --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/udp_port/cmake/udp_portConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(udp_port_CONFIG_INCLUDED) + return() +endif() +set(udp_port_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(udp_port_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/udp_port) + set(udp_port_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(udp_port_INSTALL_PREFIX "") + set(udp_port_PREFIX ${udp_port_DEVEL_PREFIX}) +else() + set(udp_port_SOURCE_PREFIX "") + set(udp_port_DEVEL_PREFIX "") + set(udp_port_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(udp_port_PREFIX ${udp_port_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'udp_port' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(udp_port_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(udp_port_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT "https://github.com/bluewhalerobot/udp_test/issues " STREQUAL " ") + set(_report "Check the issue tracker 'https://github.com/bluewhalerobot/udp_test/issues' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://github.com/bluewhalerobot/udp_test " STREQUAL " ") + set(_report "Check the website 'http://github.com/bluewhalerobot/udp_test' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Randoms ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${udp_port_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'udp_port' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'udp_port' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/chinhan/Joint_Rescue_development/src/udp_port/${idir}'. ${_report}") + endif() + _list_append_unique(udp_port_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND udp_port_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND udp_port_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT udp_port_NUM_DUMMY_TARGETS) + set(udp_port_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::udp_port::wrapped-linker-option${udp_port_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR udp_port_NUM_DUMMY_TARGETS "${udp_port_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::udp_port::wrapped-linker-option${udp_port_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND udp_port_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND udp_port_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND udp_port_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/devel/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(udp_port_LIBRARY_DIRS ${lib_path}) + list(APPEND udp_port_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'udp_port'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND udp_port_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(udp_port_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${udp_port_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;std_msgs;message_generation;message_runtime") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 udp_port_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${udp_port_dep}_FOUND) + find_package(${udp_port_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${udp_port_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(udp_port_INCLUDE_DIRS ${${udp_port_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(udp_port_LIBRARIES ${udp_port_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${udp_port_dep}_LIBRARIES}) + _list_append_deduplicate(udp_port_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(udp_port_LIBRARIES ${udp_port_LIBRARIES}) + + _list_append_unique(udp_port_LIBRARY_DIRS ${${udp_port_dep}_LIBRARY_DIRS}) + list(APPEND udp_port_EXPORTED_TARGETS ${${udp_port_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${udp_port_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgs-msg-extras.cmake b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgs-msg-extras.cmake new file mode 100644 index 00000000..52b56611 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgs-msg-extras.cmake @@ -0,0 +1,2 @@ +set(unitree_legged_msgs_MESSAGE_FILES "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/MotorState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/Cartesian.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/IMU.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LED.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/LowState.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighCmd.msg;/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg/HighState.msg") +set(unitree_legged_msgs_SERVICE_FILES "") diff --git a/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgs-msg-paths.cmake b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgs-msg-paths.cmake new file mode 100644 index 00000000..849ec598 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgs-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in + +set(unitree_legged_msgs_MSG_INCLUDE_DIRS "/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/msg") +set(unitree_legged_msgs_MSG_DEPENDENCIES std_msgs;geometry_msgs;sensor_msgs) diff --git a/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgsConfig-version.cmake b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgsConfig-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgsConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgsConfig.cmake b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgsConfig.cmake new file mode 100644 index 00000000..00beb68e --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/unitree_legged_msgs/cmake/unitree_legged_msgsConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(unitree_legged_msgs_CONFIG_INCLUDED) + return() +endif() +set(unitree_legged_msgs_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(unitree_legged_msgs_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs) + set(unitree_legged_msgs_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(unitree_legged_msgs_INSTALL_PREFIX "") + set(unitree_legged_msgs_PREFIX ${unitree_legged_msgs_DEVEL_PREFIX}) +else() + set(unitree_legged_msgs_SOURCE_PREFIX "") + set(unitree_legged_msgs_DEVEL_PREFIX "") + set(unitree_legged_msgs_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(unitree_legged_msgs_PREFIX ${unitree_legged_msgs_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'unitree_legged_msgs' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(unitree_legged_msgs_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/home/chinhan/Joint_Rescue_development/devel/include " STREQUAL " ") + set(unitree_legged_msgs_INCLUDE_DIRS "") + set(_include_dirs "/home/chinhan/Joint_Rescue_development/devel/include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'unitree ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${unitree_legged_msgs_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'unitree_legged_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'unitree_legged_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_msgs/${idir}'. ${_report}") + endif() + _list_append_unique(unitree_legged_msgs_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT unitree_legged_msgs_NUM_DUMMY_TARGETS) + set(unitree_legged_msgs_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::unitree_legged_msgs::wrapped-linker-option${unitree_legged_msgs_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR unitree_legged_msgs_NUM_DUMMY_TARGETS "${unitree_legged_msgs_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::unitree_legged_msgs::wrapped-linker-option${unitree_legged_msgs_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND unitree_legged_msgs_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND unitree_legged_msgs_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/devel/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(unitree_legged_msgs_LIBRARY_DIRS ${lib_path}) + list(APPEND unitree_legged_msgs_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'unitree_legged_msgs'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND unitree_legged_msgs_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(unitree_legged_msgs_EXPORTED_TARGETS "unitree_legged_msgs_generate_messages_cpp;unitree_legged_msgs_generate_messages_eus;unitree_legged_msgs_generate_messages_lisp;unitree_legged_msgs_generate_messages_nodejs;unitree_legged_msgs_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${unitree_legged_msgs_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "message_runtime;std_msgs;geometry_msgs;sensor_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 unitree_legged_msgs_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${unitree_legged_msgs_dep}_FOUND) + find_package(${unitree_legged_msgs_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${unitree_legged_msgs_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(unitree_legged_msgs_INCLUDE_DIRS ${${unitree_legged_msgs_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(unitree_legged_msgs_LIBRARIES ${unitree_legged_msgs_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${unitree_legged_msgs_dep}_LIBRARIES}) + _list_append_deduplicate(unitree_legged_msgs_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(unitree_legged_msgs_LIBRARIES ${unitree_legged_msgs_LIBRARIES}) + + _list_append_unique(unitree_legged_msgs_LIBRARY_DIRS ${${unitree_legged_msgs_dep}_LIBRARY_DIRS}) + list(APPEND unitree_legged_msgs_EXPORTED_TARGETS ${${unitree_legged_msgs_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "unitree_legged_msgs-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${unitree_legged_msgs_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/devel/share/unitree_legged_real/cmake/unitree_legged_realConfig-version.cmake b/src/Joint_Rescue_development/devel/share/unitree_legged_real/cmake/unitree_legged_realConfig-version.cmake new file mode 100644 index 00000000..7fd9f993 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/unitree_legged_real/cmake/unitree_legged_realConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/src/Joint_Rescue_development/devel/share/unitree_legged_real/cmake/unitree_legged_realConfig.cmake b/src/Joint_Rescue_development/devel/share/unitree_legged_real/cmake/unitree_legged_realConfig.cmake new file mode 100644 index 00000000..f9b86cd9 --- /dev/null +++ b/src/Joint_Rescue_development/devel/share/unitree_legged_real/cmake/unitree_legged_realConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(unitree_legged_real_CONFIG_INCLUDED) + return() +endif() +set(unitree_legged_real_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(unitree_legged_real_SOURCE_PREFIX /home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_real) + set(unitree_legged_real_DEVEL_PREFIX /home/chinhan/Joint_Rescue_development/devel) + set(unitree_legged_real_INSTALL_PREFIX "") + set(unitree_legged_real_PREFIX ${unitree_legged_real_DEVEL_PREFIX}) +else() + set(unitree_legged_real_SOURCE_PREFIX "") + set(unitree_legged_real_DEVEL_PREFIX "") + set(unitree_legged_real_INSTALL_PREFIX /home/chinhan/Joint_Rescue_development/install) + set(unitree_legged_real_PREFIX ${unitree_legged_real_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'unitree_legged_real' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(unitree_legged_real_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(unitree_legged_real_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'unitree ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${unitree_legged_real_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'unitree_legged_real' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'unitree_legged_real' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/chinhan/Joint_Rescue_development/src/unitree_ros_to_real-3.2.1/unitree_legged_real/${idir}'. ${_report}") + endif() + _list_append_unique(unitree_legged_real_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND unitree_legged_real_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND unitree_legged_real_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT unitree_legged_real_NUM_DUMMY_TARGETS) + set(unitree_legged_real_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::unitree_legged_real::wrapped-linker-option${unitree_legged_real_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR unitree_legged_real_NUM_DUMMY_TARGETS "${unitree_legged_real_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::unitree_legged_real::wrapped-linker-option${unitree_legged_real_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND unitree_legged_real_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND unitree_legged_real_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND unitree_legged_real_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/chinhan/Joint_Rescue_development/devel/lib;/home/chinhan/Joint_Rescue_development/devel/lib;/opt/ros/kinetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(unitree_legged_real_LIBRARY_DIRS ${lib_path}) + list(APPEND unitree_legged_real_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'unitree_legged_real'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND unitree_legged_real_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(unitree_legged_real_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${unitree_legged_real_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 unitree_legged_real_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${unitree_legged_real_dep}_FOUND) + find_package(${unitree_legged_real_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${unitree_legged_real_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(unitree_legged_real_INCLUDE_DIRS ${${unitree_legged_real_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(unitree_legged_real_LIBRARIES ${unitree_legged_real_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${unitree_legged_real_dep}_LIBRARIES}) + _list_append_deduplicate(unitree_legged_real_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(unitree_legged_real_LIBRARIES ${unitree_legged_real_LIBRARIES}) + + _list_append_unique(unitree_legged_real_LIBRARY_DIRS ${${unitree_legged_real_dep}_LIBRARY_DIRS}) + list(APPEND unitree_legged_real_EXPORTED_TARGETS ${${unitree_legged_real_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${unitree_legged_real_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/CHANGELOG.rst b/src/Joint_Rescue_development/src/librviz_tutorial/CHANGELOG.rst new file mode 100644 index 00000000..27ebe370 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/CHANGELOG.rst @@ -0,0 +1,44 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package librviz_tutorial +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.11.0 (2020-05-13) +------------------- + +0.10.4 (2020-05-13) +------------------- +* Updated required CMake version to avoid CMP0048 warning (`#57 `_) +* Contributors: Alejandro Hernández Cordero + +0.10.3 (2018-05-09) +------------------- + +0.10.2 (2018-01-05) +------------------- +* Unified find_package for Qt4 and Qt5. (`#33 `_) +* Contributors: Robert Haschke, William Woodall + +0.10.1 (2016-04-21) +------------------- +* Added qt5 dependencies to the package.xml. +* Contributors: William Woodall + +0.10.0 (2016-04-21) +------------------- +* Added support Qt5 in Kinetic. +* Contributors: William Woodall + +0.9.2 (2015-09-21) +------------------ + +0.9.1 (2015-01-26) +------------------ +* Renamed a CMake variable to avoid colliding with built-in name. +* librviz_tutorial now installs it's executable ``myviz``. +* Removed explicit default_plugin library to fix "ld: cannot find -ldefault_plugin" isolated build error +* Contributors: Honore Doktorr, Kei Okada, William Woodall + +0.9.0 (2014-03-24) +------------------ +* set myself (william) as maintainer +* Contributors: William Woodall diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/CMakeLists.txt b/src/Joint_Rescue_development/src/librviz_tutorial/CMakeLists.txt new file mode 100644 index 00000000..cc430f33 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/CMakeLists.txt @@ -0,0 +1,53 @@ +## BEGIN_TUTORIAL +## This CMakeLists.txt file for rviz_plugin_tutorials builds both the +## TeleopPanel tutorial and the ImuDisplay tutorial. +## +## First start with some standard catkin stuff. +cmake_minimum_required(VERSION 3.0.2) +project(librviz_tutorial) +find_package(catkin REQUIRED COMPONENTS rviz roscpp) +catkin_package() +include_directories(${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + +## This setting causes Qt's "MOC" generation to happen automatically. +set(CMAKE_AUTOMOC ON) + +## This plugin includes Qt widgets, so we must include Qt. +## We'll use the version that rviz used so they are compatible. +if(rviz_QT_VERSION VERSION_LESS "5") + message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + ## pull in all required include dirs, define QT_LIBRARIES, etc. + include(${QT_USE_FILE}) +else() + message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies + set(QT_LIBRARIES Qt5::Widgets) +endif() + +## I prefer the Qt signals and slots to avoid defining "emit", "slots", +## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here. +add_definitions(-DQT_NO_KEYWORDS) + +## Here we specify the list of source files. +## The generated MOC files are included automatically as headers. +set(SRC_FILES + src/myviz.cpp + src/main.cpp +) + +## Add the "myviz" executable and specify the list of source files we +## collected above in ``${SRC_FILES}``. +add_executable(myviz ${SRC_FILES}) + +## Link the myviz executable with whatever Qt libraries have been defined by +## the ``find_package(Qt4 ...)`` line above, or by the +## ``set(QT_LIBRARIES Qt5::Widgets)``, and with whatever libraries +## catkin has included. +target_link_libraries(myviz ${QT_LIBRARIES} ${catkin_LIBRARIES}) +## END_TUTORIAL + +## Install +install(TARGETS myviz DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/package.xml b/src/Joint_Rescue_development/src/librviz_tutorial/package.xml new file mode 100644 index 00000000..e9277932 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/package.xml @@ -0,0 +1,28 @@ + + librviz_tutorial + 0.11.0 + + Tutorial showing how to compile your own C++ program with RViz displays and features. + + Mabel Zhang + BSD + + http://ros.org/wiki/librviz_tutorial + Dave Hershberger + + catkin + + qtbase5-dev + roscpp + rviz + + libqt5-core + libqt5-gui + libqt5-widgets + roscpp + rviz + + + + + diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/rosdoc.yaml b/src/Joint_Rescue_development/src/librviz_tutorial/rosdoc.yaml new file mode 100644 index 00000000..5b332fa9 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/rosdoc.yaml @@ -0,0 +1,2 @@ +- builder: sphinx + sphinx_root_dir: src/doc diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/conf.py b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/conf.py new file mode 100644 index 00000000..bb18b12a --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/conf.py @@ -0,0 +1,25 @@ +import sys, os + +sys.path += [ os.path.abspath( '.' )] + +extensions = [ 'sphinx.ext.extlinks', + 'tutorialformatter' ] + +# The master toctree document. +master_doc = 'index' + +# The suffix of source filenames. +source_suffix = '.rst' + +project = u'librviz_tutorial' + +copyright = u'2012, Willow Garage, Inc' + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +show_authors = True + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +extlinks = {'codedir': ('https://github.com/ros-visualization/visualization_tutorials/blob/hydro-devel/librviz_tutorial/%s', '')} diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/index.rst b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/index.rst new file mode 100644 index 00000000..28910ab2 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/index.rst @@ -0,0 +1,67 @@ +Librviz Tutorial +================ + +Overview +-------- + +RViz is not just a visualizer application, it is also a library! Much +of RViz's functionality can be accessed within your own application by +linking against librviz.so (or whatever your OS likes to call it). + +This tutorial shows a very simple example of creating a 3D visualizer +widget (rviz::RenderPanel), programmatically creating a new Grid +display within it, then using Qt slider controls to adjust a couple of +the grid's properties. The app is called "myviz". + +The source code for this tutorial is in the librviz_tutorial +package. You can check out the source directly or (if you use Ubuntu) +you can just apt-get install the pre-compiled Debian package like so:: + + sudo apt-get install ros-hydro-visualization-tutorials + +The running application looks like this: + +.. image:: myviz.png + +The Code +-------- + +The code for myviz is in these files: +:codedir:`src/main.cpp`, +:codedir:`src/myviz.h`, and +:codedir:`src/myviz.cpp`. + +main.cpp +^^^^^^^^ + +The full text of main.cpp is here: :codedir:`src/main.cpp` + +.. tutorial-formatter:: ../main.cpp + +myviz.h +^^^^^^^ + +The full text of myviz.h is here: :codedir:`src/myviz.h` + +.. tutorial-formatter:: ../myviz.h + +myviz.cpp +^^^^^^^^^ + +The full text of myviz.cpp is here: :codedir:`src/myviz.cpp` + +.. tutorial-formatter:: ../myviz.cpp + +Building +-------- + +The full text of CMakeLists.txt is here: :codedir:`CMakeLists.txt` + +.. tutorial-formatter:: ../../CMakeLists.txt + +Running +------- + +Just type:: + + rosrun librviz_tutorial myviz diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/myviz.png b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/myviz.png new file mode 100644 index 00000000..ab623d2a Binary files /dev/null and b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/myviz.png differ diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/tutorialformatter.py b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/tutorialformatter.py new file mode 100644 index 00000000..8260942a --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/src/doc/tutorialformatter.py @@ -0,0 +1,132 @@ +""" + tutorialformatter + =========================== + + This extension provides a directive to include a source code file + in a document, but with certain comments from the file formatted + as regular document text. This allows code for a tutorial to look like: + + /// BEGIN_TUTORIAL + /// This next line adds one. + i = i + 1; + /// Then we need to double it. + i = i * 2; + /// END_TUTORIAL + + And have it formatted as + + This next line adds one.:: + i = i + 1; + + Then we need to double it.:: + i = i * 2; + + The special-looking comment character sequence at the start of + each text line can be anything not starting or ending with + whitespace. tutorialformatter starts by scanning the file for the + string BEGIN_TUTORIAL. When it finds it, it takes all the + characters before BEGIN_TUTORIAL on that line, strips whitespace + from the left, and uses that as the text marker. So this would + also be fine: + + #My Tutorial# BEGIN_TUTORIAL + #My Tutorial# This next line adds one. + i = i + 1 + #My Tutorial# Then we need to double it. + i = i * 2 + #My Tutorial# END_TUTORIAL + + .. moduleauthor:: Dave Hershberger +""" + +__version__ = '0.1.0' + +import os +from docutils.parsers import rst +from docutils.parsers.rst.directives import flag, unchanged +from docutils.statemachine import string2lines +from pygments.lexers import get_lexer_for_filename + +class TutorialFormatterDirective(rst.Directive): + has_content = False + final_argument_whitespace = True + required_arguments = 1 + + option_spec = dict(shell=flag, prompt=flag, nostderr=flag, + in_srcdir=flag, extraargs=unchanged, + until=unchanged) + + def run(self): + filename = self.arguments[0] + text_tag = None + tag_len = 0 + + filepath = self.state.document.settings.env.srcdir + absfilename = os.path.join( filepath, filename ) + if absfilename.endswith('.h'): + language = 'c++' + elif absfilename.endswith('CMakeLists.txt'): + language = 'cmake' + else: + try: + language = get_lexer_for_filename( absfilename ).name.lower() + if language == 'text only': + language = 'none' + except: + language = 'none' + code_prefix = '\n.. code-block:: ' + language + '\n\n' + code_suffix = '\n' + + print "tutorial-formatter running on", absfilename + file_ = open( absfilename, 'r' ) + text_to_process = "" + current_block = "" + in_code = False + in_text = False + in_tutorial = False + for line in file_: + if not in_tutorial: + begin_pos = line.find( 'BEGIN_TUTORIAL' ) + if begin_pos != -1: + text_tag = line[:begin_pos].lstrip() + tag_len = len( text_tag ) + in_tutorial = True + continue + if line.find( 'END_TUTORIAL' ) != -1: + break + stripped = line.lstrip() + if stripped.startswith( text_tag.strip() ): + if in_code: + text_to_process += code_prefix + current_block + code_suffix + current_block = "" + in_code = False + in_text = True + addition = stripped[tag_len:] + if addition == '' or addition[-1] != '\n': + addition += '\n' + current_block += addition + else: + if in_text: + text_to_process += current_block + current_block = "" + in_text = False + in_code = True # Code to show begins right after tagged text + if in_code: + current_block += ' ' + line + if in_code: + text_to_process += code_prefix + current_block + code_suffix + elif in_text: + text_to_process += current_block + + # Debug writes... + #print 'text_to_process =' + #print text_to_process + #print '= text_to_process' + + lines = string2lines( text_to_process ) + self.state_machine.insert_input( lines, absfilename ) + + return [] + +def setup(app): + app.add_directive('tutorial-formatter', TutorialFormatterDirective) diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/src/main.cpp b/src/Joint_Rescue_development/src/librviz_tutorial/src/main.cpp new file mode 100644 index 00000000..e2a12540 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/src/main.cpp @@ -0,0 +1,55 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// BEGIN_TUTORIAL + +// The main() for this "myviz" example is very simple, it just +// initializes ROS, creates a QApplication, creates the top-level +// widget (of type "MyViz"), shows it, and runs the Qt event loop. + +#include +#include +#include "myviz.h" + +int main(int argc, char **argv) +{ + if( !ros::isInitialized() ) + { + ros::init( argc, argv, "myviz", ros::init_options::AnonymousName ); + } + + QApplication app( argc, argv ); + + MyViz* myviz = new MyViz(); + myviz->show(); + + app.exec(); + + delete myviz; +} diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/src/myviz.cpp b/src/Joint_Rescue_development/src/librviz_tutorial/src/myviz.cpp new file mode 100644 index 00000000..f43b9624 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/src/myviz.cpp @@ -0,0 +1,125 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include + +#include "rviz/visualization_manager.h" +#include "rviz/render_panel.h" +#include "rviz/display.h" + +#include "myviz.h" + +// BEGIN_TUTORIAL +// Constructor for MyViz. This does most of the work of the class. +MyViz::MyViz( QWidget* parent ) + : QWidget( parent ) +{ + // Construct and lay out labels and slider controls. + QLabel* thickness_label = new QLabel( "Line Thickness" ); + QSlider* thickness_slider = new QSlider( Qt::Horizontal ); + thickness_slider->setMinimum( 1 ); + thickness_slider->setMaximum( 100 ); + QLabel* cell_size_label = new QLabel( "Cell Size" ); + QSlider* cell_size_slider = new QSlider( Qt::Horizontal ); + cell_size_slider->setMinimum( 1 ); + cell_size_slider->setMaximum( 100 ); + QGridLayout* controls_layout = new QGridLayout(); + controls_layout->addWidget( thickness_label, 0, 0 ); + controls_layout->addWidget( thickness_slider, 0, 1 ); + controls_layout->addWidget( cell_size_label, 1, 0 ); + controls_layout->addWidget( cell_size_slider, 1, 1 ); + + // Construct and lay out render panel. + render_panel_ = new rviz::RenderPanel(); + QVBoxLayout* main_layout = new QVBoxLayout; + main_layout->addLayout( controls_layout ); + main_layout->addWidget( render_panel_ ); + + // Set the top-level layout for this MyViz widget. + setLayout( main_layout ); + + // Make signal/slot connections. + connect( thickness_slider, SIGNAL( valueChanged( int )), this, SLOT( setThickness( int ))); + connect( cell_size_slider, SIGNAL( valueChanged( int )), this, SLOT( setCellSize( int ))); + + // Next we initialize the main RViz classes. + // + // The VisualizationManager is the container for Display objects, + // holds the main Ogre scene, holds the ViewController, etc. It is + // very central and we will probably need one in every usage of + // librviz. + manager_ = new rviz::VisualizationManager( render_panel_ ); + render_panel_->initialize( manager_->getSceneManager(), manager_ ); + manager_->initialize(); + manager_->startUpdate(); + + // Create a Grid display. + grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true ); + ROS_ASSERT( grid_ != NULL ); + + // Configure the GridDisplay the way we like it. + grid_->subProp( "Line Style" )->setValue( "Billboards" ); + grid_->subProp( "Color" )->setValue( QColor( Qt::white ) ); + + // Initialize the slider values. + thickness_slider->setValue( 25 ); + cell_size_slider->setValue( 10 ); +} + +// Destructor. +MyViz::~MyViz() +{ + delete manager_; +} + +// This function is a Qt slot connected to a QSlider's valueChanged() +// signal. It sets the line thickness of the grid by changing the +// grid's "Line Width" property. +void MyViz::setThickness( int thickness_percent ) +{ + if( grid_ != NULL ) + { + grid_->subProp( "Line Style" )->subProp( "Line Width" )->setValue( thickness_percent / 100.0f ); + } +} + +// This function is a Qt slot connected to a QSlider's valueChanged() +// signal. It sets the cell size of the grid by changing the grid's +// "Cell Size" Property. +void MyViz::setCellSize( int cell_size_percent ) +{ + if( grid_ != NULL ) + { + grid_->subProp( "Cell Size" )->setValue( cell_size_percent / 10.0f ); + } +} diff --git a/src/Joint_Rescue_development/src/librviz_tutorial/src/myviz.h b/src/Joint_Rescue_development/src/librviz_tutorial/src/myviz.h new file mode 100644 index 00000000..e157b912 --- /dev/null +++ b/src/Joint_Rescue_development/src/librviz_tutorial/src/myviz.h @@ -0,0 +1,60 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef MYVIZ_H +#define MYVIZ_H + +#include + +namespace rviz +{ +class Display; +class RenderPanel; +class VisualizationManager; +} + +// BEGIN_TUTORIAL +// Class "MyViz" implements the top level widget for this example. +class MyViz: public QWidget +{ +Q_OBJECT +public: + MyViz( QWidget* parent = 0 ); + virtual ~MyViz(); + +private Q_SLOTS: + void setThickness( int thickness_percent ); + void setCellSize( int cell_size_percent ); + +private: + rviz::VisualizationManager* manager_; + rviz::RenderPanel* render_panel_; + rviz::Display* grid_; +}; +// END_TUTORIAL +#endif // MYVIZ_H diff --git a/src/Joint_Rescue_development/src/udp_port/.gitignore b/src/Joint_Rescue_development/src/udp_port/.gitignore new file mode 100644 index 00000000..722d5e71 --- /dev/null +++ b/src/Joint_Rescue_development/src/udp_port/.gitignore @@ -0,0 +1 @@ +.vscode diff --git a/src/Joint_Rescue_development/src/udp_port/CMakeLists.txt b/src/Joint_Rescue_development/src/udp_port/CMakeLists.txt new file mode 100644 index 00000000..a81e8f70 --- /dev/null +++ b/src/Joint_Rescue_development/src/udp_port/CMakeLists.txt @@ -0,0 +1,76 @@ +cmake_minimum_required(VERSION 2.8.3) +project(udp_port) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + geometry_msgs + nav_msgs + message_generation +) + +include_directories( + include + include/json + include/transform + ${catkin_INCLUDE_DIRS} +) + +add_library(send_transform include/transform/send_transform.h lib/send_transform.cpp) +add_dependencies(send_transform ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(send_transform + ${catkin_LIBRARIES} +) + +add_library(receive_transform include/transform/receive_transform.h lib/receive_transform.cpp) +add_dependencies(receive_transform ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(receive_transform + ${catkin_LIBRARIES} +) + +catkin_package( + CATKIN_DEPENDS roscpp std_msgs message_generation message_runtime +) + +add_executable(udp_port_send_node src/udp_port_send_node.cpp) +target_link_libraries(udp_port_send_node + ${catkin_LIBRARIES} +) + +add_executable(udp_port_receive_node src/udp_port_receive_node.cpp) +target_link_libraries(udp_port_receive_node + receive_transform + ${catkin_LIBRARIES} +) + +add_executable(coordinate_send_node src/coordinate_send.cpp) +target_link_libraries(coordinate_send_node + send_transform + ${catkin_LIBRARIES} +) + +add_executable(map_send_node src/map_send.cpp) +target_link_libraries(map_send_node + send_transform + ${catkin_LIBRARIES} +) + +add_executable(direct_control_send_node src/direct_control_send.cpp) +target_link_libraries(direct_control_send_node + ${catkin_LIBRARIES} +) + +add_executable(test_node test/test.cpp) +target_link_libraries(test_node + receive_transform + send_transform + ${catkin_LIBRARIES} +) + +add_executable(look_node test/look.cpp) +target_link_libraries(look_node + ${catkin_LIBRARIES} +) + diff --git a/src/Joint_Rescue_development/src/udp_port/README.md b/src/Joint_Rescue_development/src/udp_port/README.md new file mode 100644 index 00000000..82ca4e69 --- /dev/null +++ b/src/Joint_Rescue_development/src/udp_port/README.md @@ -0,0 +1,5 @@ +# udp port +rosrun udp_port udp_port_send_node +rosrun udp_port udp_port_receive_node +rosrun udp_port coordinate_send_node +scp catkin_ws/src/slamware_ros_sample/src/pub_nav_goal.cpp unitree@192.168.123.12:/tmp \ No newline at end of file diff --git a/src/Joint_Rescue_development/src/udp_port/include/json/json.hpp b/src/Joint_Rescue_development/src/udp_port/include/json/json.hpp new file mode 100644 index 00000000..4d1a37ad --- /dev/null +++ b/src/Joint_Rescue_development/src/udp_port/include/json/json.hpp @@ -0,0 +1,24596 @@ +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + +/****************************************************************************\ + * Note on documentation: The source files contain links to the online * + * documentation of the public API at https://json.nlohmann.me. This URL * + * contains the most recent documentation and should also be applicable to * + * previous versions; documentation for deprecated functions is not * + * removed, but marked deprecated. See "Generate documentation" section in * + * file docs/README.md. * +\****************************************************************************/ + +#ifndef INCLUDE_NLOHMANN_JSON_HPP_ +#define INCLUDE_NLOHMANN_JSON_HPP_ + +#include // all_of, find, for_each +#include // nullptr_t, ptrdiff_t, size_t +#include // hash, less +#include // initializer_list +#ifndef JSON_NO_IO + #include // istream, ostream +#endif // JSON_NO_IO +#include // random_access_iterator_tag +#include // unique_ptr +#include // accumulate +#include // string, stoi, to_string +#include // declval, forward, move, pair, swap +#include // vector + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +// This file contains all macro definitions affecting or depending on the ABI + +#ifndef JSON_SKIP_LIBRARY_VERSION_CHECK + #if defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR) && defined(NLOHMANN_JSON_VERSION_PATCH) + #if NLOHMANN_JSON_VERSION_MAJOR != 3 || NLOHMANN_JSON_VERSION_MINOR != 11 || NLOHMANN_JSON_VERSION_PATCH != 2 + #warning "Already included a different version of the library!" + #endif + #endif +#endif + +#define NLOHMANN_JSON_VERSION_MAJOR 3 // NOLINT(modernize-macro-to-enum) +#define NLOHMANN_JSON_VERSION_MINOR 11 // NOLINT(modernize-macro-to-enum) +#define NLOHMANN_JSON_VERSION_PATCH 2 // NOLINT(modernize-macro-to-enum) + +#ifndef JSON_DIAGNOSTICS + #define JSON_DIAGNOSTICS 0 +#endif + +#ifndef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON + #define JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON 0 +#endif + +#if JSON_DIAGNOSTICS + #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS _diag +#else + #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS +#endif + +#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON + #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON _ldvcmp +#else + #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON +#endif + +#ifndef NLOHMANN_JSON_NAMESPACE_NO_VERSION + #define NLOHMANN_JSON_NAMESPACE_NO_VERSION 0 +#endif + +// Construct the namespace ABI tags component +#define NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b) json_abi ## a ## b +#define NLOHMANN_JSON_ABI_TAGS_CONCAT(a, b) \ + NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b) + +#define NLOHMANN_JSON_ABI_TAGS \ + NLOHMANN_JSON_ABI_TAGS_CONCAT( \ + NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS, \ + NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON) + +// Construct the namespace version component +#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch) \ + _v ## major ## _ ## minor ## _ ## patch +#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(major, minor, patch) \ + NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch) + +#if NLOHMANN_JSON_NAMESPACE_NO_VERSION +#define NLOHMANN_JSON_NAMESPACE_VERSION +#else +#define NLOHMANN_JSON_NAMESPACE_VERSION \ + NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(NLOHMANN_JSON_VERSION_MAJOR, \ + NLOHMANN_JSON_VERSION_MINOR, \ + NLOHMANN_JSON_VERSION_PATCH) +#endif + +// Combine namespace components +#define NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b) a ## b +#define NLOHMANN_JSON_NAMESPACE_CONCAT(a, b) \ + NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b) + +#ifndef NLOHMANN_JSON_NAMESPACE +#define NLOHMANN_JSON_NAMESPACE \ + nlohmann::NLOHMANN_JSON_NAMESPACE_CONCAT( \ + NLOHMANN_JSON_ABI_TAGS, \ + NLOHMANN_JSON_NAMESPACE_VERSION) +#endif + +#ifndef NLOHMANN_JSON_NAMESPACE_BEGIN +#define NLOHMANN_JSON_NAMESPACE_BEGIN \ + namespace nlohmann \ + { \ + inline namespace NLOHMANN_JSON_NAMESPACE_CONCAT( \ + NLOHMANN_JSON_ABI_TAGS, \ + NLOHMANN_JSON_NAMESPACE_VERSION) \ + { +#endif + +#ifndef NLOHMANN_JSON_NAMESPACE_END +#define NLOHMANN_JSON_NAMESPACE_END \ + } /* namespace (inline namespace) NOLINT(readability/namespace) */ \ + } // namespace nlohmann +#endif + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include // transform +#include // array +#include // forward_list +#include // inserter, front_inserter, end +#include // map +#include // string +#include // tuple, make_tuple +#include // is_arithmetic, is_same, is_enum, underlying_type, is_convertible +#include // unordered_map +#include // pair, declval +#include // valarray + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include // nullptr_t +#include // exception +#include // runtime_error +#include // to_string +#include // vector + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include // array +#include // size_t +#include // uint8_t +#include // string + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include // declval, pair +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +// #include + + +NLOHMANN_JSON_NAMESPACE_BEGIN +namespace detail +{ + +template struct make_void +{ + using type = void; +}; +template using void_t = typename make_void::type; + +} // namespace detail +NLOHMANN_JSON_NAMESPACE_END + + +NLOHMANN_JSON_NAMESPACE_BEGIN +namespace detail +{ + +// https://en.cppreference.com/w/cpp/experimental/is_detected +struct nonesuch +{ + nonesuch() = delete; + ~nonesuch() = delete; + nonesuch(nonesuch const&) = delete; + nonesuch(nonesuch const&&) = delete; + void operator=(nonesuch const&) = delete; + void operator=(nonesuch&&) = delete; +}; + +template class Op, + class... Args> +struct detector +{ + using value_t = std::false_type; + using type = Default; +}; + +template class Op, class... Args> +struct detector>, Op, Args...> +{ + using value_t = std::true_type; + using type = Op; +}; + +template class Op, class... Args> +using is_detected = typename detector::value_t; + +template class Op, class... Args> +struct is_detected_lazy : is_detected { }; + +template class Op, class... Args> +using detected_t = typename detector::type; + +template class Op, class... Args> +using detected_or = detector; + +template class Op, class... Args> +using detected_or_t = typename detected_or::type; + +template class Op, class... Args> +using is_detected_exact = std::is_same>; + +template class Op, class... Args> +using is_detected_convertible = + std::is_convertible, To>; + +} // namespace detail +NLOHMANN_JSON_NAMESPACE_END + +// #include + + +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-FileCopyrightText: 2016-2021 Evan Nemerson +// SPDX-License-Identifier: MIT + +/* Hedley - https://nemequ.github.io/hedley + * Created by Evan Nemerson + */ + +#if !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < 15) +#if defined(JSON_HEDLEY_VERSION) + #undef JSON_HEDLEY_VERSION +#endif +#define JSON_HEDLEY_VERSION 15 + +#if defined(JSON_HEDLEY_STRINGIFY_EX) + #undef JSON_HEDLEY_STRINGIFY_EX +#endif +#define JSON_HEDLEY_STRINGIFY_EX(x) #x + +#if defined(JSON_HEDLEY_STRINGIFY) + #undef JSON_HEDLEY_STRINGIFY +#endif +#define JSON_HEDLEY_STRINGIFY(x) JSON_HEDLEY_STRINGIFY_EX(x) + +#if defined(JSON_HEDLEY_CONCAT_EX) + #undef JSON_HEDLEY_CONCAT_EX +#endif +#define JSON_HEDLEY_CONCAT_EX(a,b) a##b + +#if defined(JSON_HEDLEY_CONCAT) + #undef JSON_HEDLEY_CONCAT +#endif +#define JSON_HEDLEY_CONCAT(a,b) JSON_HEDLEY_CONCAT_EX(a,b) + +#if defined(JSON_HEDLEY_CONCAT3_EX) + #undef JSON_HEDLEY_CONCAT3_EX +#endif +#define JSON_HEDLEY_CONCAT3_EX(a,b,c) a##b##c + +#if defined(JSON_HEDLEY_CONCAT3) + #undef JSON_HEDLEY_CONCAT3 +#endif +#define JSON_HEDLEY_CONCAT3(a,b,c) JSON_HEDLEY_CONCAT3_EX(a,b,c) + +#if defined(JSON_HEDLEY_VERSION_ENCODE) + #undef JSON_HEDLEY_VERSION_ENCODE +#endif +#define JSON_HEDLEY_VERSION_ENCODE(major,minor,revision) (((major) * 1000000) + ((minor) * 1000) + (revision)) + +#if defined(JSON_HEDLEY_VERSION_DECODE_MAJOR) + #undef JSON_HEDLEY_VERSION_DECODE_MAJOR +#endif +#define JSON_HEDLEY_VERSION_DECODE_MAJOR(version) ((version) / 1000000) + +#if defined(JSON_HEDLEY_VERSION_DECODE_MINOR) + #undef JSON_HEDLEY_VERSION_DECODE_MINOR +#endif +#define JSON_HEDLEY_VERSION_DECODE_MINOR(version) (((version) % 1000000) / 1000) + +#if defined(JSON_HEDLEY_VERSION_DECODE_REVISION) + #undef JSON_HEDLEY_VERSION_DECODE_REVISION +#endif +#define JSON_HEDLEY_VERSION_DECODE_REVISION(version) ((version) % 1000) + +#if defined(JSON_HEDLEY_GNUC_VERSION) + #undef JSON_HEDLEY_GNUC_VERSION +#endif +#if defined(__GNUC__) && defined(__GNUC_PATCHLEVEL__) + #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__) +#elif defined(__GNUC__) + #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, 0) +#endif + +#if defined(JSON_HEDLEY_GNUC_VERSION_CHECK) + #undef JSON_HEDLEY_GNUC_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_GNUC_VERSION) + #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GNUC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_MSVC_VERSION) + #undef JSON_HEDLEY_MSVC_VERSION +#endif +#if defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 140000000) && !defined(__ICL) + #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 10000000, (_MSC_FULL_VER % 10000000) / 100000, (_MSC_FULL_VER % 100000) / 100) +#elif defined(_MSC_FULL_VER) && !defined(__ICL) + #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 1000000, (_MSC_FULL_VER % 1000000) / 10000, (_MSC_FULL_VER % 10000) / 10) +#elif defined(_MSC_VER) && !defined(__ICL) + #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_VER / 100, _MSC_VER % 100, 0) +#endif + +#if defined(JSON_HEDLEY_MSVC_VERSION_CHECK) + #undef JSON_HEDLEY_MSVC_VERSION_CHECK +#endif +#if !defined(JSON_HEDLEY_MSVC_VERSION) + #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (0) +#elif defined(_MSC_VER) && (_MSC_VER >= 1400) + #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 10000000) + (minor * 100000) + (patch))) +#elif defined(_MSC_VER) && (_MSC_VER >= 1200) + #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 1000000) + (minor * 10000) + (patch))) +#else + #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_VER >= ((major * 100) + (minor))) +#endif + +#if defined(JSON_HEDLEY_INTEL_VERSION) + #undef JSON_HEDLEY_INTEL_VERSION +#endif +#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && !defined(__ICL) + #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, __INTEL_COMPILER_UPDATE) +#elif defined(__INTEL_COMPILER) && !defined(__ICL) + #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, 0) +#endif + +#if defined(JSON_HEDLEY_INTEL_VERSION_CHECK) + #undef JSON_HEDLEY_INTEL_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_INTEL_VERSION) + #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_INTEL_CL_VERSION) + #undef JSON_HEDLEY_INTEL_CL_VERSION +#endif +#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && defined(__ICL) + #define JSON_HEDLEY_INTEL_CL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER, __INTEL_COMPILER_UPDATE, 0) +#endif + +#if defined(JSON_HEDLEY_INTEL_CL_VERSION_CHECK) + #undef JSON_HEDLEY_INTEL_CL_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_INTEL_CL_VERSION) + #define JSON_HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_CL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_PGI_VERSION) + #undef JSON_HEDLEY_PGI_VERSION +#endif +#if defined(__PGI) && defined(__PGIC__) && defined(__PGIC_MINOR__) && defined(__PGIC_PATCHLEVEL__) + #define JSON_HEDLEY_PGI_VERSION JSON_HEDLEY_VERSION_ENCODE(__PGIC__, __PGIC_MINOR__, __PGIC_PATCHLEVEL__) +#endif + +#if defined(JSON_HEDLEY_PGI_VERSION_CHECK) + #undef JSON_HEDLEY_PGI_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_PGI_VERSION) + #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PGI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_SUNPRO_VERSION) + #undef JSON_HEDLEY_SUNPRO_VERSION +#endif +#if defined(__SUNPRO_C) && (__SUNPRO_C > 0x1000) + #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_C >> 16) & 0xf) * 10) + ((__SUNPRO_C >> 12) & 0xf), (((__SUNPRO_C >> 8) & 0xf) * 10) + ((__SUNPRO_C >> 4) & 0xf), (__SUNPRO_C & 0xf) * 10) +#elif defined(__SUNPRO_C) + #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_C >> 8) & 0xf, (__SUNPRO_C >> 4) & 0xf, (__SUNPRO_C) & 0xf) +#elif defined(__SUNPRO_CC) && (__SUNPRO_CC > 0x1000) + #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_CC >> 16) & 0xf) * 10) + ((__SUNPRO_CC >> 12) & 0xf), (((__SUNPRO_CC >> 8) & 0xf) * 10) + ((__SUNPRO_CC >> 4) & 0xf), (__SUNPRO_CC & 0xf) * 10) +#elif defined(__SUNPRO_CC) + #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_CC >> 8) & 0xf, (__SUNPRO_CC >> 4) & 0xf, (__SUNPRO_CC) & 0xf) +#endif + +#if defined(JSON_HEDLEY_SUNPRO_VERSION_CHECK) + #undef JSON_HEDLEY_SUNPRO_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_SUNPRO_VERSION) + #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_SUNPRO_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION) + #undef JSON_HEDLEY_EMSCRIPTEN_VERSION +#endif +#if defined(__EMSCRIPTEN__) + #define JSON_HEDLEY_EMSCRIPTEN_VERSION JSON_HEDLEY_VERSION_ENCODE(__EMSCRIPTEN_major__, __EMSCRIPTEN_minor__, __EMSCRIPTEN_tiny__) +#endif + +#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK) + #undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION) + #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_EMSCRIPTEN_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_ARM_VERSION) + #undef JSON_HEDLEY_ARM_VERSION +#endif +#if defined(__CC_ARM) && defined(__ARMCOMPILER_VERSION) + #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCOMPILER_VERSION / 1000000, (__ARMCOMPILER_VERSION % 1000000) / 10000, (__ARMCOMPILER_VERSION % 10000) / 100) +#elif defined(__CC_ARM) && defined(__ARMCC_VERSION) + #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCC_VERSION / 1000000, (__ARMCC_VERSION % 1000000) / 10000, (__ARMCC_VERSION % 10000) / 100) +#endif + +#if defined(JSON_HEDLEY_ARM_VERSION_CHECK) + #undef JSON_HEDLEY_ARM_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_ARM_VERSION) + #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_ARM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_IBM_VERSION) + #undef JSON_HEDLEY_IBM_VERSION +#endif +#if defined(__ibmxl__) + #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ibmxl_version__, __ibmxl_release__, __ibmxl_modification__) +#elif defined(__xlC__) && defined(__xlC_ver__) + #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, (__xlC_ver__ >> 8) & 0xff) +#elif defined(__xlC__) + #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, 0) +#endif + +#if defined(JSON_HEDLEY_IBM_VERSION_CHECK) + #undef JSON_HEDLEY_IBM_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_IBM_VERSION) + #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IBM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TI_VERSION) + #undef JSON_HEDLEY_TI_VERSION +#endif +#if \ + defined(__TI_COMPILER_VERSION__) && \ + ( \ + defined(__TMS470__) || defined(__TI_ARM__) || \ + defined(__MSP430__) || \ + defined(__TMS320C2000__) \ + ) +#if (__TI_COMPILER_VERSION__ >= 16000000) + #define JSON_HEDLEY_TI_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000)) +#endif +#endif + +#if defined(JSON_HEDLEY_TI_VERSION_CHECK) + #undef JSON_HEDLEY_TI_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TI_VERSION) + #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TI_CL2000_VERSION) + #undef JSON_HEDLEY_TI_CL2000_VERSION +#endif +#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C2000__) + #define JSON_HEDLEY_TI_CL2000_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000)) +#endif + +#if defined(JSON_HEDLEY_TI_CL2000_VERSION_CHECK) + #undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TI_CL2000_VERSION) + #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL2000_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TI_CL430_VERSION) + #undef JSON_HEDLEY_TI_CL430_VERSION +#endif +#if defined(__TI_COMPILER_VERSION__) && defined(__MSP430__) + #define JSON_HEDLEY_TI_CL430_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000)) +#endif + +#if defined(JSON_HEDLEY_TI_CL430_VERSION_CHECK) + #undef JSON_HEDLEY_TI_CL430_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TI_CL430_VERSION) + #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL430_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TI_ARMCL_VERSION) + #undef JSON_HEDLEY_TI_ARMCL_VERSION +#endif +#if defined(__TI_COMPILER_VERSION__) && (defined(__TMS470__) || defined(__TI_ARM__)) + #define JSON_HEDLEY_TI_ARMCL_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000)) +#endif + +#if defined(JSON_HEDLEY_TI_ARMCL_VERSION_CHECK) + #undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TI_ARMCL_VERSION) + #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_ARMCL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TI_CL6X_VERSION) + #undef JSON_HEDLEY_TI_CL6X_VERSION +#endif +#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C6X__) + #define JSON_HEDLEY_TI_CL6X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000)) +#endif + +#if defined(JSON_HEDLEY_TI_CL6X_VERSION_CHECK) + #undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TI_CL6X_VERSION) + #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL6X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TI_CL7X_VERSION) + #undef JSON_HEDLEY_TI_CL7X_VERSION +#endif +#if defined(__TI_COMPILER_VERSION__) && defined(__C7000__) + #define JSON_HEDLEY_TI_CL7X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000)) +#endif + +#if defined(JSON_HEDLEY_TI_CL7X_VERSION_CHECK) + #undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TI_CL7X_VERSION) + #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL7X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TI_CLPRU_VERSION) + #undef JSON_HEDLEY_TI_CLPRU_VERSION +#endif +#if defined(__TI_COMPILER_VERSION__) && defined(__PRU__) + #define JSON_HEDLEY_TI_CLPRU_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000)) +#endif + +#if defined(JSON_HEDLEY_TI_CLPRU_VERSION_CHECK) + #undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TI_CLPRU_VERSION) + #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CLPRU_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_CRAY_VERSION) + #undef JSON_HEDLEY_CRAY_VERSION +#endif +#if defined(_CRAYC) + #if defined(_RELEASE_PATCHLEVEL) + #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, _RELEASE_PATCHLEVEL) + #else + #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, 0) + #endif +#endif + +#if defined(JSON_HEDLEY_CRAY_VERSION_CHECK) + #undef JSON_HEDLEY_CRAY_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_CRAY_VERSION) + #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_CRAY_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_IAR_VERSION) + #undef JSON_HEDLEY_IAR_VERSION +#endif +#if defined(__IAR_SYSTEMS_ICC__) + #if __VER__ > 1000 + #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE((__VER__ / 1000000), ((__VER__ / 1000) % 1000), (__VER__ % 1000)) + #else + #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE(__VER__ / 100, __VER__ % 100, 0) + #endif +#endif + +#if defined(JSON_HEDLEY_IAR_VERSION_CHECK) + #undef JSON_HEDLEY_IAR_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_IAR_VERSION) + #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IAR_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_TINYC_VERSION) + #undef JSON_HEDLEY_TINYC_VERSION +#endif +#if defined(__TINYC__) + #define JSON_HEDLEY_TINYC_VERSION JSON_HEDLEY_VERSION_ENCODE(__TINYC__ / 1000, (__TINYC__ / 100) % 10, __TINYC__ % 100) +#endif + +#if defined(JSON_HEDLEY_TINYC_VERSION_CHECK) + #undef JSON_HEDLEY_TINYC_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_TINYC_VERSION) + #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TINYC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_DMC_VERSION) + #undef JSON_HEDLEY_DMC_VERSION +#endif +#if defined(__DMC__) + #define JSON_HEDLEY_DMC_VERSION JSON_HEDLEY_VERSION_ENCODE(__DMC__ >> 8, (__DMC__ >> 4) & 0xf, __DMC__ & 0xf) +#endif + +#if defined(JSON_HEDLEY_DMC_VERSION_CHECK) + #undef JSON_HEDLEY_DMC_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_DMC_VERSION) + #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_DMC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_COMPCERT_VERSION) + #undef JSON_HEDLEY_COMPCERT_VERSION +#endif +#if defined(__COMPCERT_VERSION__) + #define JSON_HEDLEY_COMPCERT_VERSION JSON_HEDLEY_VERSION_ENCODE(__COMPCERT_VERSION__ / 10000, (__COMPCERT_VERSION__ / 100) % 100, __COMPCERT_VERSION__ % 100) +#endif + +#if defined(JSON_HEDLEY_COMPCERT_VERSION_CHECK) + #undef JSON_HEDLEY_COMPCERT_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_COMPCERT_VERSION) + #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_COMPCERT_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_PELLES_VERSION) + #undef JSON_HEDLEY_PELLES_VERSION +#endif +#if defined(__POCC__) + #define JSON_HEDLEY_PELLES_VERSION JSON_HEDLEY_VERSION_ENCODE(__POCC__ / 100, __POCC__ % 100, 0) +#endif + +#if defined(JSON_HEDLEY_PELLES_VERSION_CHECK) + #undef JSON_HEDLEY_PELLES_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_PELLES_VERSION) + #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PELLES_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_MCST_LCC_VERSION) + #undef JSON_HEDLEY_MCST_LCC_VERSION +#endif +#if defined(__LCC__) && defined(__LCC_MINOR__) + #define JSON_HEDLEY_MCST_LCC_VERSION JSON_HEDLEY_VERSION_ENCODE(__LCC__ / 100, __LCC__ % 100, __LCC_MINOR__) +#endif + +#if defined(JSON_HEDLEY_MCST_LCC_VERSION_CHECK) + #undef JSON_HEDLEY_MCST_LCC_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_MCST_LCC_VERSION) + #define JSON_HEDLEY_MCST_LCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_MCST_LCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_MCST_LCC_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_GCC_VERSION) + #undef JSON_HEDLEY_GCC_VERSION +#endif +#if \ + defined(JSON_HEDLEY_GNUC_VERSION) && \ + !defined(__clang__) && \ + !defined(JSON_HEDLEY_INTEL_VERSION) && \ + !defined(JSON_HEDLEY_PGI_VERSION) && \ + !defined(JSON_HEDLEY_ARM_VERSION) && \ + !defined(JSON_HEDLEY_CRAY_VERSION) && \ + !defined(JSON_HEDLEY_TI_VERSION) && \ + !defined(JSON_HEDLEY_TI_ARMCL_VERSION) && \ + !defined(JSON_HEDLEY_TI_CL430_VERSION) && \ + !defined(JSON_HEDLEY_TI_CL2000_VERSION) && \ + !defined(JSON_HEDLEY_TI_CL6X_VERSION) && \ + !defined(JSON_HEDLEY_TI_CL7X_VERSION) && \ + !defined(JSON_HEDLEY_TI_CLPRU_VERSION) && \ + !defined(__COMPCERT__) && \ + !defined(JSON_HEDLEY_MCST_LCC_VERSION) + #define JSON_HEDLEY_GCC_VERSION JSON_HEDLEY_GNUC_VERSION +#endif + +#if defined(JSON_HEDLEY_GCC_VERSION_CHECK) + #undef JSON_HEDLEY_GCC_VERSION_CHECK +#endif +#if defined(JSON_HEDLEY_GCC_VERSION) + #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch)) +#else + #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (0) +#endif + +#if defined(JSON_HEDLEY_HAS_ATTRIBUTE) + #undef JSON_HEDLEY_HAS_ATTRIBUTE +#endif +#if \ + defined(__has_attribute) && \ + ( \ + (!defined(JSON_HEDLEY_IAR_VERSION) || JSON_HEDLEY_IAR_VERSION_CHECK(8,5,9)) \ + ) +# define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) __has_attribute(attribute) +#else +# define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) (0) +#endif + +#if defined(JSON_HEDLEY_GNUC_HAS_ATTRIBUTE) + #undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE +#endif +#if defined(__has_attribute) + #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_HAS_ATTRIBUTE(attribute) +#else + #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_GCC_HAS_ATTRIBUTE) + #undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE +#endif +#if defined(__has_attribute) + #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_HAS_ATTRIBUTE(attribute) +#else + #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE) + #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE +#endif +#if \ + defined(__has_cpp_attribute) && \ + defined(__cplusplus) && \ + (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0)) + #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) __has_cpp_attribute(attribute) +#else + #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) (0) +#endif + +#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS) + #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS +#endif +#if !defined(__cplusplus) || !defined(__has_cpp_attribute) + #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0) +#elif \ + !defined(JSON_HEDLEY_PGI_VERSION) && \ + !defined(JSON_HEDLEY_IAR_VERSION) && \ + (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0)) && \ + (!defined(JSON_HEDLEY_MSVC_VERSION) || JSON_HEDLEY_MSVC_VERSION_CHECK(19,20,0)) + #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(ns::attribute) +#else + #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0) +#endif + +#if defined(JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE) + #undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE +#endif +#if defined(__has_cpp_attribute) && defined(__cplusplus) + #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute) +#else + #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE) + #undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE +#endif +#if defined(__has_cpp_attribute) && defined(__cplusplus) + #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute) +#else + #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_HAS_BUILTIN) + #undef JSON_HEDLEY_HAS_BUILTIN +#endif +#if defined(__has_builtin) + #define JSON_HEDLEY_HAS_BUILTIN(builtin) __has_builtin(builtin) +#else + #define JSON_HEDLEY_HAS_BUILTIN(builtin) (0) +#endif + +#if defined(JSON_HEDLEY_GNUC_HAS_BUILTIN) + #undef JSON_HEDLEY_GNUC_HAS_BUILTIN +#endif +#if defined(__has_builtin) + #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin) +#else + #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_GCC_HAS_BUILTIN) + #undef JSON_HEDLEY_GCC_HAS_BUILTIN +#endif +#if defined(__has_builtin) + #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin) +#else + #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_HAS_FEATURE) + #undef JSON_HEDLEY_HAS_FEATURE +#endif +#if defined(__has_feature) + #define JSON_HEDLEY_HAS_FEATURE(feature) __has_feature(feature) +#else + #define JSON_HEDLEY_HAS_FEATURE(feature) (0) +#endif + +#if defined(JSON_HEDLEY_GNUC_HAS_FEATURE) + #undef JSON_HEDLEY_GNUC_HAS_FEATURE +#endif +#if defined(__has_feature) + #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature) +#else + #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_GCC_HAS_FEATURE) + #undef JSON_HEDLEY_GCC_HAS_FEATURE +#endif +#if defined(__has_feature) + #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature) +#else + #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_HAS_EXTENSION) + #undef JSON_HEDLEY_HAS_EXTENSION +#endif +#if defined(__has_extension) + #define JSON_HEDLEY_HAS_EXTENSION(extension) __has_extension(extension) +#else + #define JSON_HEDLEY_HAS_EXTENSION(extension) (0) +#endif + +#if defined(JSON_HEDLEY_GNUC_HAS_EXTENSION) + #undef JSON_HEDLEY_GNUC_HAS_EXTENSION +#endif +#if defined(__has_extension) + #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension) +#else + #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_GCC_HAS_EXTENSION) + #undef JSON_HEDLEY_GCC_HAS_EXTENSION +#endif +#if defined(__has_extension) + #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension) +#else + #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE) + #undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE +#endif +#if defined(__has_declspec_attribute) + #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) __has_declspec_attribute(attribute) +#else + #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) (0) +#endif + +#if defined(JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE) + #undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE +#endif +#if defined(__has_declspec_attribute) + #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute) +#else + #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE) + #undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE +#endif +#if defined(__has_declspec_attribute) + #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute) +#else + #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_HAS_WARNING) + #undef JSON_HEDLEY_HAS_WARNING +#endif +#if defined(__has_warning) + #define JSON_HEDLEY_HAS_WARNING(warning) __has_warning(warning) +#else + #define JSON_HEDLEY_HAS_WARNING(warning) (0) +#endif + +#if defined(JSON_HEDLEY_GNUC_HAS_WARNING) + #undef JSON_HEDLEY_GNUC_HAS_WARNING +#endif +#if defined(__has_warning) + #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning) +#else + #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_GCC_HAS_WARNING) + #undef JSON_HEDLEY_GCC_HAS_WARNING +#endif +#if defined(__has_warning) + #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning) +#else + #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if \ + (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \ + defined(__clang__) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,0,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0) || \ + JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,17) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(8,0,0) || \ + (JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) && defined(__C99_PRAGMA_OPERATOR)) + #define JSON_HEDLEY_PRAGMA(value) _Pragma(#value) +#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) + #define JSON_HEDLEY_PRAGMA(value) __pragma(value) +#else + #define JSON_HEDLEY_PRAGMA(value) +#endif + +#if defined(JSON_HEDLEY_DIAGNOSTIC_PUSH) + #undef JSON_HEDLEY_DIAGNOSTIC_PUSH +#endif +#if defined(JSON_HEDLEY_DIAGNOSTIC_POP) + #undef JSON_HEDLEY_DIAGNOSTIC_POP +#endif +#if defined(__clang__) + #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("clang diagnostic push") + #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("clang diagnostic pop") +#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)") + #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)") +#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0) + #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push") + #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop") +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_DIAGNOSTIC_PUSH __pragma(warning(push)) + #define JSON_HEDLEY_DIAGNOSTIC_POP __pragma(warning(pop)) +#elif JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) + #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("push") + #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("pop") +#elif \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,4,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) + #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("diag_push") + #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("diag_pop") +#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0) + #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)") + #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)") +#else + #define JSON_HEDLEY_DIAGNOSTIC_PUSH + #define JSON_HEDLEY_DIAGNOSTIC_POP +#endif + +/* JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_ is for + HEDLEY INTERNAL USE ONLY. API subject to change without notice. */ +#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_) + #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_ +#endif +#if defined(__cplusplus) +# if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat") +# if JSON_HEDLEY_HAS_WARNING("-Wc++17-extensions") +# if JSON_HEDLEY_HAS_WARNING("-Wc++1z-extensions") +# define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \ + _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \ + _Pragma("clang diagnostic ignored \"-Wc++1z-extensions\"") \ + xpr \ + JSON_HEDLEY_DIAGNOSTIC_POP +# else +# define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \ + _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \ + xpr \ + JSON_HEDLEY_DIAGNOSTIC_POP +# endif +# else +# define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \ + xpr \ + JSON_HEDLEY_DIAGNOSTIC_POP +# endif +# endif +#endif +#if !defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(x) x +#endif + +#if defined(JSON_HEDLEY_CONST_CAST) + #undef JSON_HEDLEY_CONST_CAST +#endif +#if defined(__cplusplus) +# define JSON_HEDLEY_CONST_CAST(T, expr) (const_cast(expr)) +#elif \ + JSON_HEDLEY_HAS_WARNING("-Wcast-qual") || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) +# define JSON_HEDLEY_CONST_CAST(T, expr) (__extension__ ({ \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL \ + ((T) (expr)); \ + JSON_HEDLEY_DIAGNOSTIC_POP \ + })) +#else +# define JSON_HEDLEY_CONST_CAST(T, expr) ((T) (expr)) +#endif + +#if defined(JSON_HEDLEY_REINTERPRET_CAST) + #undef JSON_HEDLEY_REINTERPRET_CAST +#endif +#if defined(__cplusplus) + #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) (reinterpret_cast(expr)) +#else + #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) ((T) (expr)) +#endif + +#if defined(JSON_HEDLEY_STATIC_CAST) + #undef JSON_HEDLEY_STATIC_CAST +#endif +#if defined(__cplusplus) + #define JSON_HEDLEY_STATIC_CAST(T, expr) (static_cast(expr)) +#else + #define JSON_HEDLEY_STATIC_CAST(T, expr) ((T) (expr)) +#endif + +#if defined(JSON_HEDLEY_CPP_CAST) + #undef JSON_HEDLEY_CPP_CAST +#endif +#if defined(__cplusplus) +# if JSON_HEDLEY_HAS_WARNING("-Wold-style-cast") +# define JSON_HEDLEY_CPP_CAST(T, expr) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("clang diagnostic ignored \"-Wold-style-cast\"") \ + ((T) (expr)) \ + JSON_HEDLEY_DIAGNOSTIC_POP +# elif JSON_HEDLEY_IAR_VERSION_CHECK(8,3,0) +# define JSON_HEDLEY_CPP_CAST(T, expr) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("diag_suppress=Pe137") \ + JSON_HEDLEY_DIAGNOSTIC_POP +# else +# define JSON_HEDLEY_CPP_CAST(T, expr) ((T) (expr)) +# endif +#else +# define JSON_HEDLEY_CPP_CAST(T, expr) (expr) +#endif + +#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED) + #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wdeprecated-declarations") + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"") +#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warning(disable:1478 1786)") +#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:1478 1786)) +#elif JSON_HEDLEY_PGI_VERSION_CHECK(20,7,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1216,1444,1445") +#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444") +#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"") +#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:4996)) +#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444") +#elif \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1291,1718") +#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && !defined(__cplusplus) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,E_DEPRECATED_ATT,E_DEPRECATED_ATT_MESS)") +#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && defined(__cplusplus) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,symdeprecated,symdeprecated2)") +#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress=Pe1444,Pe1215") +#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warn(disable:2241)") +#else + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED +#endif + +#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS) + #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas") + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("clang diagnostic ignored \"-Wunknown-pragmas\"") +#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("warning(disable:161)") +#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:161)) +#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 1675") +#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("GCC diagnostic ignored \"-Wunknown-pragmas\"") +#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:4068)) +#elif \ + JSON_HEDLEY_TI_VERSION_CHECK(16,9,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163") +#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163") +#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress=Pe161") +#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 161") +#else + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS +#endif + +#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES) + #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wunknown-attributes") + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("clang diagnostic ignored \"-Wunknown-attributes\"") +#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"") +#elif JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("warning(disable:1292)") +#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:1292)) +#elif JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:5030)) +#elif JSON_HEDLEY_PGI_VERSION_CHECK(20,7,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097,1098") +#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097") +#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("error_messages(off,attrskipunsup)") +#elif \ + JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1173") +#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress=Pe1097") +#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097") +#else + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES +#endif + +#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL) + #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wcast-qual") + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("clang diagnostic ignored \"-Wcast-qual\"") +#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("warning(disable:2203 2331)") +#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("GCC diagnostic ignored \"-Wcast-qual\"") +#else + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL +#endif + +#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION) + #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wunused-function") + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("clang diagnostic ignored \"-Wunused-function\"") +#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("GCC diagnostic ignored \"-Wunused-function\"") +#elif JSON_HEDLEY_MSVC_VERSION_CHECK(1,0,0) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION __pragma(warning(disable:4505)) +#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("diag_suppress 3142") +#else + #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION +#endif + +#if defined(JSON_HEDLEY_DEPRECATED) + #undef JSON_HEDLEY_DEPRECATED +#endif +#if defined(JSON_HEDLEY_DEPRECATED_FOR) + #undef JSON_HEDLEY_DEPRECATED_FOR +#endif +#if \ + JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated("Since " # since)) + #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated("Since " #since "; use " #replacement)) +#elif \ + (JSON_HEDLEY_HAS_EXTENSION(attribute_deprecated_with_message) && !defined(JSON_HEDLEY_IAR_VERSION)) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(18,1,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__("Since " #since))) + #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__("Since " #since "; use " #replacement))) +#elif defined(__cplusplus) && (__cplusplus >= 201402L) + #define JSON_HEDLEY_DEPRECATED(since) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since)]]) + #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since "; use " #replacement)]]) +#elif \ + JSON_HEDLEY_HAS_ATTRIBUTE(deprecated) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \ + JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0) + #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__)) + #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__)) +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \ + JSON_HEDLEY_PELLES_VERSION_CHECK(6,50,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated) + #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated) +#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) + #define JSON_HEDLEY_DEPRECATED(since) _Pragma("deprecated") + #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) _Pragma("deprecated") +#else + #define JSON_HEDLEY_DEPRECATED(since) + #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) +#endif + +#if defined(JSON_HEDLEY_UNAVAILABLE) + #undef JSON_HEDLEY_UNAVAILABLE +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(warning) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_UNAVAILABLE(available_since) __attribute__((__warning__("Not available until " #available_since))) +#else + #define JSON_HEDLEY_UNAVAILABLE(available_since) +#endif + +#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT) + #undef JSON_HEDLEY_WARN_UNUSED_RESULT +#endif +#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT_MSG) + #undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(warn_unused_result) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_WARN_UNUSED_RESULT __attribute__((__warn_unused_result__)) + #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) __attribute__((__warn_unused_result__)) +#elif (JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard) >= 201907L) + #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]]) + #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard(msg)]]) +#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard) + #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]]) + #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]]) +#elif defined(_Check_return_) /* SAL */ + #define JSON_HEDLEY_WARN_UNUSED_RESULT _Check_return_ + #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) _Check_return_ +#else + #define JSON_HEDLEY_WARN_UNUSED_RESULT + #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) +#endif + +#if defined(JSON_HEDLEY_SENTINEL) + #undef JSON_HEDLEY_SENTINEL +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(sentinel) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_SENTINEL(position) __attribute__((__sentinel__(position))) +#else + #define JSON_HEDLEY_SENTINEL(position) +#endif + +#if defined(JSON_HEDLEY_NO_RETURN) + #undef JSON_HEDLEY_NO_RETURN +#endif +#if JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) + #define JSON_HEDLEY_NO_RETURN __noreturn +#elif \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__)) +#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L + #define JSON_HEDLEY_NO_RETURN _Noreturn +#elif defined(__cplusplus) && (__cplusplus >= 201103L) + #define JSON_HEDLEY_NO_RETURN JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[noreturn]]) +#elif \ + JSON_HEDLEY_HAS_ATTRIBUTE(noreturn) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,2,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0) + #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__)) +#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) + #define JSON_HEDLEY_NO_RETURN _Pragma("does_not_return") +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_NO_RETURN __declspec(noreturn) +#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus) + #define JSON_HEDLEY_NO_RETURN _Pragma("FUNC_NEVER_RETURNS;") +#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0) + #define JSON_HEDLEY_NO_RETURN __attribute((noreturn)) +#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0) + #define JSON_HEDLEY_NO_RETURN __declspec(noreturn) +#else + #define JSON_HEDLEY_NO_RETURN +#endif + +#if defined(JSON_HEDLEY_NO_ESCAPE) + #undef JSON_HEDLEY_NO_ESCAPE +#endif +#if JSON_HEDLEY_HAS_ATTRIBUTE(noescape) + #define JSON_HEDLEY_NO_ESCAPE __attribute__((__noescape__)) +#else + #define JSON_HEDLEY_NO_ESCAPE +#endif + +#if defined(JSON_HEDLEY_UNREACHABLE) + #undef JSON_HEDLEY_UNREACHABLE +#endif +#if defined(JSON_HEDLEY_UNREACHABLE_RETURN) + #undef JSON_HEDLEY_UNREACHABLE_RETURN +#endif +#if defined(JSON_HEDLEY_ASSUME) + #undef JSON_HEDLEY_ASSUME +#endif +#if \ + JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_ASSUME(expr) __assume(expr) +#elif JSON_HEDLEY_HAS_BUILTIN(__builtin_assume) + #define JSON_HEDLEY_ASSUME(expr) __builtin_assume(expr) +#elif \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) + #if defined(__cplusplus) + #define JSON_HEDLEY_ASSUME(expr) std::_nassert(expr) + #else + #define JSON_HEDLEY_ASSUME(expr) _nassert(expr) + #endif +#endif +#if \ + (JSON_HEDLEY_HAS_BUILTIN(__builtin_unreachable) && (!defined(JSON_HEDLEY_ARM_VERSION))) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(18,10,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(13,1,5) || \ + JSON_HEDLEY_CRAY_VERSION_CHECK(10,0,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_UNREACHABLE() __builtin_unreachable() +#elif defined(JSON_HEDLEY_ASSUME) + #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0) +#endif +#if !defined(JSON_HEDLEY_ASSUME) + #if defined(JSON_HEDLEY_UNREACHABLE) + #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, ((expr) ? 1 : (JSON_HEDLEY_UNREACHABLE(), 1))) + #else + #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, expr) + #endif +#endif +#if defined(JSON_HEDLEY_UNREACHABLE) + #if \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) + #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (JSON_HEDLEY_STATIC_CAST(void, JSON_HEDLEY_ASSUME(0)), (value)) + #else + #define JSON_HEDLEY_UNREACHABLE_RETURN(value) JSON_HEDLEY_UNREACHABLE() + #endif +#else + #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (value) +#endif +#if !defined(JSON_HEDLEY_UNREACHABLE) + #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0) +#endif + +JSON_HEDLEY_DIAGNOSTIC_PUSH +#if JSON_HEDLEY_HAS_WARNING("-Wpedantic") + #pragma clang diagnostic ignored "-Wpedantic" +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat-pedantic") && defined(__cplusplus) + #pragma clang diagnostic ignored "-Wc++98-compat-pedantic" +#endif +#if JSON_HEDLEY_GCC_HAS_WARNING("-Wvariadic-macros",4,0,0) + #if defined(__clang__) + #pragma clang diagnostic ignored "-Wvariadic-macros" + #elif defined(JSON_HEDLEY_GCC_VERSION) + #pragma GCC diagnostic ignored "-Wvariadic-macros" + #endif +#endif +#if defined(JSON_HEDLEY_NON_NULL) + #undef JSON_HEDLEY_NON_NULL +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(nonnull) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) + #define JSON_HEDLEY_NON_NULL(...) __attribute__((__nonnull__(__VA_ARGS__))) +#else + #define JSON_HEDLEY_NON_NULL(...) +#endif +JSON_HEDLEY_DIAGNOSTIC_POP + +#if defined(JSON_HEDLEY_PRINTF_FORMAT) + #undef JSON_HEDLEY_PRINTF_FORMAT +#endif +#if defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && !defined(__USE_MINGW_ANSI_STDIO) + #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(ms_printf, string_idx, first_to_check))) +#elif defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && defined(__USE_MINGW_ANSI_STDIO) + #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(gnu_printf, string_idx, first_to_check))) +#elif \ + JSON_HEDLEY_HAS_ATTRIBUTE(format) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(__printf__, string_idx, first_to_check))) +#elif JSON_HEDLEY_PELLES_VERSION_CHECK(6,0,0) + #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __declspec(vaformat(printf,string_idx,first_to_check)) +#else + #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) +#endif + +#if defined(JSON_HEDLEY_CONSTEXPR) + #undef JSON_HEDLEY_CONSTEXPR +#endif +#if defined(__cplusplus) + #if __cplusplus >= 201103L + #define JSON_HEDLEY_CONSTEXPR JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(constexpr) + #endif +#endif +#if !defined(JSON_HEDLEY_CONSTEXPR) + #define JSON_HEDLEY_CONSTEXPR +#endif + +#if defined(JSON_HEDLEY_PREDICT) + #undef JSON_HEDLEY_PREDICT +#endif +#if defined(JSON_HEDLEY_LIKELY) + #undef JSON_HEDLEY_LIKELY +#endif +#if defined(JSON_HEDLEY_UNLIKELY) + #undef JSON_HEDLEY_UNLIKELY +#endif +#if defined(JSON_HEDLEY_UNPREDICTABLE) + #undef JSON_HEDLEY_UNPREDICTABLE +#endif +#if JSON_HEDLEY_HAS_BUILTIN(__builtin_unpredictable) + #define JSON_HEDLEY_UNPREDICTABLE(expr) __builtin_unpredictable((expr)) +#endif +#if \ + (JSON_HEDLEY_HAS_BUILTIN(__builtin_expect_with_probability) && !defined(JSON_HEDLEY_PGI_VERSION)) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(9,0,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) +# define JSON_HEDLEY_PREDICT(expr, value, probability) __builtin_expect_with_probability( (expr), (value), (probability)) +# define JSON_HEDLEY_PREDICT_TRUE(expr, probability) __builtin_expect_with_probability(!!(expr), 1 , (probability)) +# define JSON_HEDLEY_PREDICT_FALSE(expr, probability) __builtin_expect_with_probability(!!(expr), 0 , (probability)) +# define JSON_HEDLEY_LIKELY(expr) __builtin_expect (!!(expr), 1 ) +# define JSON_HEDLEY_UNLIKELY(expr) __builtin_expect (!!(expr), 0 ) +#elif \ + (JSON_HEDLEY_HAS_BUILTIN(__builtin_expect) && !defined(JSON_HEDLEY_INTEL_CL_VERSION)) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,27) || \ + JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) +# define JSON_HEDLEY_PREDICT(expr, expected, probability) \ + (((probability) >= 0.9) ? __builtin_expect((expr), (expected)) : (JSON_HEDLEY_STATIC_CAST(void, expected), (expr))) +# define JSON_HEDLEY_PREDICT_TRUE(expr, probability) \ + (__extension__ ({ \ + double hedley_probability_ = (probability); \ + ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 1) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 0) : !!(expr))); \ + })) +# define JSON_HEDLEY_PREDICT_FALSE(expr, probability) \ + (__extension__ ({ \ + double hedley_probability_ = (probability); \ + ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 0) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 1) : !!(expr))); \ + })) +# define JSON_HEDLEY_LIKELY(expr) __builtin_expect(!!(expr), 1) +# define JSON_HEDLEY_UNLIKELY(expr) __builtin_expect(!!(expr), 0) +#else +# define JSON_HEDLEY_PREDICT(expr, expected, probability) (JSON_HEDLEY_STATIC_CAST(void, expected), (expr)) +# define JSON_HEDLEY_PREDICT_TRUE(expr, probability) (!!(expr)) +# define JSON_HEDLEY_PREDICT_FALSE(expr, probability) (!!(expr)) +# define JSON_HEDLEY_LIKELY(expr) (!!(expr)) +# define JSON_HEDLEY_UNLIKELY(expr) (!!(expr)) +#endif +#if !defined(JSON_HEDLEY_UNPREDICTABLE) + #define JSON_HEDLEY_UNPREDICTABLE(expr) JSON_HEDLEY_PREDICT(expr, 1, 0.5) +#endif + +#if defined(JSON_HEDLEY_MALLOC) + #undef JSON_HEDLEY_MALLOC +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(malloc) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_MALLOC __attribute__((__malloc__)) +#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) + #define JSON_HEDLEY_MALLOC _Pragma("returns_new_memory") +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_MALLOC __declspec(restrict) +#else + #define JSON_HEDLEY_MALLOC +#endif + +#if defined(JSON_HEDLEY_PURE) + #undef JSON_HEDLEY_PURE +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(pure) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(2,96,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) +# define JSON_HEDLEY_PURE __attribute__((__pure__)) +#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) +# define JSON_HEDLEY_PURE _Pragma("does_not_write_global_data") +#elif defined(__cplusplus) && \ + ( \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) \ + ) +# define JSON_HEDLEY_PURE _Pragma("FUNC_IS_PURE;") +#else +# define JSON_HEDLEY_PURE +#endif + +#if defined(JSON_HEDLEY_CONST) + #undef JSON_HEDLEY_CONST +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(const) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(2,5,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_CONST __attribute__((__const__)) +#elif \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) + #define JSON_HEDLEY_CONST _Pragma("no_side_effect") +#else + #define JSON_HEDLEY_CONST JSON_HEDLEY_PURE +#endif + +#if defined(JSON_HEDLEY_RESTRICT) + #undef JSON_HEDLEY_RESTRICT +#endif +#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && !defined(__cplusplus) + #define JSON_HEDLEY_RESTRICT restrict +#elif \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \ + JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,4) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)) || \ + JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \ + defined(__clang__) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_RESTRICT __restrict +#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,3,0) && !defined(__cplusplus) + #define JSON_HEDLEY_RESTRICT _Restrict +#else + #define JSON_HEDLEY_RESTRICT +#endif + +#if defined(JSON_HEDLEY_INLINE) + #undef JSON_HEDLEY_INLINE +#endif +#if \ + (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \ + (defined(__cplusplus) && (__cplusplus >= 199711L)) + #define JSON_HEDLEY_INLINE inline +#elif \ + defined(JSON_HEDLEY_GCC_VERSION) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(6,2,0) + #define JSON_HEDLEY_INLINE __inline__ +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,1,0) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_INLINE __inline +#else + #define JSON_HEDLEY_INLINE +#endif + +#if defined(JSON_HEDLEY_ALWAYS_INLINE) + #undef JSON_HEDLEY_ALWAYS_INLINE +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(always_inline) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \ + JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0) +# define JSON_HEDLEY_ALWAYS_INLINE __attribute__((__always_inline__)) JSON_HEDLEY_INLINE +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) +# define JSON_HEDLEY_ALWAYS_INLINE __forceinline +#elif defined(__cplusplus) && \ + ( \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) \ + ) +# define JSON_HEDLEY_ALWAYS_INLINE _Pragma("FUNC_ALWAYS_INLINE;") +#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) +# define JSON_HEDLEY_ALWAYS_INLINE _Pragma("inline=forced") +#else +# define JSON_HEDLEY_ALWAYS_INLINE JSON_HEDLEY_INLINE +#endif + +#if defined(JSON_HEDLEY_NEVER_INLINE) + #undef JSON_HEDLEY_NEVER_INLINE +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(noinline) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \ + JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \ + (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \ + (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \ + (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \ + JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \ + JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \ + JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0) + #define JSON_HEDLEY_NEVER_INLINE __attribute__((__noinline__)) +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline) +#elif JSON_HEDLEY_PGI_VERSION_CHECK(10,2,0) + #define JSON_HEDLEY_NEVER_INLINE _Pragma("noinline") +#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus) + #define JSON_HEDLEY_NEVER_INLINE _Pragma("FUNC_CANNOT_INLINE;") +#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) + #define JSON_HEDLEY_NEVER_INLINE _Pragma("inline=never") +#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0) + #define JSON_HEDLEY_NEVER_INLINE __attribute((noinline)) +#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0) + #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline) +#else + #define JSON_HEDLEY_NEVER_INLINE +#endif + +#if defined(JSON_HEDLEY_PRIVATE) + #undef JSON_HEDLEY_PRIVATE +#endif +#if defined(JSON_HEDLEY_PUBLIC) + #undef JSON_HEDLEY_PUBLIC +#endif +#if defined(JSON_HEDLEY_IMPORT) + #undef JSON_HEDLEY_IMPORT +#endif +#if defined(_WIN32) || defined(__CYGWIN__) +# define JSON_HEDLEY_PRIVATE +# define JSON_HEDLEY_PUBLIC __declspec(dllexport) +# define JSON_HEDLEY_IMPORT __declspec(dllimport) +#else +# if \ + JSON_HEDLEY_HAS_ATTRIBUTE(visibility) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \ + JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \ + ( \ + defined(__TI_EABI__) && \ + ( \ + (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) \ + ) \ + ) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) +# define JSON_HEDLEY_PRIVATE __attribute__((__visibility__("hidden"))) +# define JSON_HEDLEY_PUBLIC __attribute__((__visibility__("default"))) +# else +# define JSON_HEDLEY_PRIVATE +# define JSON_HEDLEY_PUBLIC +# endif +# define JSON_HEDLEY_IMPORT extern +#endif + +#if defined(JSON_HEDLEY_NO_THROW) + #undef JSON_HEDLEY_NO_THROW +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(nothrow) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_NO_THROW __attribute__((__nothrow__)) +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(13,1,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) + #define JSON_HEDLEY_NO_THROW __declspec(nothrow) +#else + #define JSON_HEDLEY_NO_THROW +#endif + +#if defined(JSON_HEDLEY_FALL_THROUGH) + #undef JSON_HEDLEY_FALL_THROUGH +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(fallthrough) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(7,0,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_FALL_THROUGH __attribute__((__fallthrough__)) +#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(clang,fallthrough) + #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[clang::fallthrough]]) +#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(fallthrough) + #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[fallthrough]]) +#elif defined(__fallthrough) /* SAL */ + #define JSON_HEDLEY_FALL_THROUGH __fallthrough +#else + #define JSON_HEDLEY_FALL_THROUGH +#endif + +#if defined(JSON_HEDLEY_RETURNS_NON_NULL) + #undef JSON_HEDLEY_RETURNS_NON_NULL +#endif +#if \ + JSON_HEDLEY_HAS_ATTRIBUTE(returns_nonnull) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_RETURNS_NON_NULL __attribute__((__returns_nonnull__)) +#elif defined(_Ret_notnull_) /* SAL */ + #define JSON_HEDLEY_RETURNS_NON_NULL _Ret_notnull_ +#else + #define JSON_HEDLEY_RETURNS_NON_NULL +#endif + +#if defined(JSON_HEDLEY_ARRAY_PARAM) + #undef JSON_HEDLEY_ARRAY_PARAM +#endif +#if \ + defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && \ + !defined(__STDC_NO_VLA__) && \ + !defined(__cplusplus) && \ + !defined(JSON_HEDLEY_PGI_VERSION) && \ + !defined(JSON_HEDLEY_TINYC_VERSION) + #define JSON_HEDLEY_ARRAY_PARAM(name) (name) +#else + #define JSON_HEDLEY_ARRAY_PARAM(name) +#endif + +#if defined(JSON_HEDLEY_IS_CONSTANT) + #undef JSON_HEDLEY_IS_CONSTANT +#endif +#if defined(JSON_HEDLEY_REQUIRE_CONSTEXPR) + #undef JSON_HEDLEY_REQUIRE_CONSTEXPR +#endif +/* JSON_HEDLEY_IS_CONSTEXPR_ is for + HEDLEY INTERNAL USE ONLY. API subject to change without notice. */ +#if defined(JSON_HEDLEY_IS_CONSTEXPR_) + #undef JSON_HEDLEY_IS_CONSTEXPR_ +#endif +#if \ + JSON_HEDLEY_HAS_BUILTIN(__builtin_constant_p) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,19) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \ + JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \ + (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) && !defined(__cplusplus)) || \ + JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \ + JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) + #define JSON_HEDLEY_IS_CONSTANT(expr) __builtin_constant_p(expr) +#endif +#if !defined(__cplusplus) +# if \ + JSON_HEDLEY_HAS_BUILTIN(__builtin_types_compatible_p) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \ + JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \ + JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,24) +#if defined(__INTPTR_TYPE__) + #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0)), int*) +#else + #include + #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((intptr_t) ((expr) * 0)) : (int*) 0)), int*) +#endif +# elif \ + ( \ + defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && \ + !defined(JSON_HEDLEY_SUNPRO_VERSION) && \ + !defined(JSON_HEDLEY_PGI_VERSION) && \ + !defined(JSON_HEDLEY_IAR_VERSION)) || \ + (JSON_HEDLEY_HAS_EXTENSION(c_generic_selections) && !defined(JSON_HEDLEY_IAR_VERSION)) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0) || \ + JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \ + JSON_HEDLEY_ARM_VERSION_CHECK(5,3,0) +#if defined(__INTPTR_TYPE__) + #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0), int*: 1, void*: 0) +#else + #include + #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((intptr_t) * 0) : (int*) 0), int*: 1, void*: 0) +#endif +# elif \ + defined(JSON_HEDLEY_GCC_VERSION) || \ + defined(JSON_HEDLEY_INTEL_VERSION) || \ + defined(JSON_HEDLEY_TINYC_VERSION) || \ + defined(JSON_HEDLEY_TI_ARMCL_VERSION) || \ + JSON_HEDLEY_TI_CL430_VERSION_CHECK(18,12,0) || \ + defined(JSON_HEDLEY_TI_CL2000_VERSION) || \ + defined(JSON_HEDLEY_TI_CL6X_VERSION) || \ + defined(JSON_HEDLEY_TI_CL7X_VERSION) || \ + defined(JSON_HEDLEY_TI_CLPRU_VERSION) || \ + defined(__clang__) +# define JSON_HEDLEY_IS_CONSTEXPR_(expr) ( \ + sizeof(void) != \ + sizeof(*( \ + 1 ? \ + ((void*) ((expr) * 0L) ) : \ +((struct { char v[sizeof(void) * 2]; } *) 1) \ + ) \ + ) \ + ) +# endif +#endif +#if defined(JSON_HEDLEY_IS_CONSTEXPR_) + #if !defined(JSON_HEDLEY_IS_CONSTANT) + #define JSON_HEDLEY_IS_CONSTANT(expr) JSON_HEDLEY_IS_CONSTEXPR_(expr) + #endif + #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (JSON_HEDLEY_IS_CONSTEXPR_(expr) ? (expr) : (-1)) +#else + #if !defined(JSON_HEDLEY_IS_CONSTANT) + #define JSON_HEDLEY_IS_CONSTANT(expr) (0) + #endif + #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (expr) +#endif + +#if defined(JSON_HEDLEY_BEGIN_C_DECLS) + #undef JSON_HEDLEY_BEGIN_C_DECLS +#endif +#if defined(JSON_HEDLEY_END_C_DECLS) + #undef JSON_HEDLEY_END_C_DECLS +#endif +#if defined(JSON_HEDLEY_C_DECL) + #undef JSON_HEDLEY_C_DECL +#endif +#if defined(__cplusplus) + #define JSON_HEDLEY_BEGIN_C_DECLS extern "C" { + #define JSON_HEDLEY_END_C_DECLS } + #define JSON_HEDLEY_C_DECL extern "C" +#else + #define JSON_HEDLEY_BEGIN_C_DECLS + #define JSON_HEDLEY_END_C_DECLS + #define JSON_HEDLEY_C_DECL +#endif + +#if defined(JSON_HEDLEY_STATIC_ASSERT) + #undef JSON_HEDLEY_STATIC_ASSERT +#endif +#if \ + !defined(__cplusplus) && ( \ + (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)) || \ + (JSON_HEDLEY_HAS_FEATURE(c_static_assert) && !defined(JSON_HEDLEY_INTEL_CL_VERSION)) || \ + JSON_HEDLEY_GCC_VERSION_CHECK(6,0,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \ + defined(_Static_assert) \ + ) +# define JSON_HEDLEY_STATIC_ASSERT(expr, message) _Static_assert(expr, message) +#elif \ + (defined(__cplusplus) && (__cplusplus >= 201103L)) || \ + JSON_HEDLEY_MSVC_VERSION_CHECK(16,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) +# define JSON_HEDLEY_STATIC_ASSERT(expr, message) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(static_assert(expr, message)) +#else +# define JSON_HEDLEY_STATIC_ASSERT(expr, message) +#endif + +#if defined(JSON_HEDLEY_NULL) + #undef JSON_HEDLEY_NULL +#endif +#if defined(__cplusplus) + #if __cplusplus >= 201103L + #define JSON_HEDLEY_NULL JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(nullptr) + #elif defined(NULL) + #define JSON_HEDLEY_NULL NULL + #else + #define JSON_HEDLEY_NULL JSON_HEDLEY_STATIC_CAST(void*, 0) + #endif +#elif defined(NULL) + #define JSON_HEDLEY_NULL NULL +#else + #define JSON_HEDLEY_NULL ((void*) 0) +#endif + +#if defined(JSON_HEDLEY_MESSAGE) + #undef JSON_HEDLEY_MESSAGE +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas") +# define JSON_HEDLEY_MESSAGE(msg) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \ + JSON_HEDLEY_PRAGMA(message msg) \ + JSON_HEDLEY_DIAGNOSTIC_POP +#elif \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,4,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) +# define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message msg) +#elif JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0) +# define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(_CRI message msg) +#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) +# define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg)) +#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,0,0) +# define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg)) +#else +# define JSON_HEDLEY_MESSAGE(msg) +#endif + +#if defined(JSON_HEDLEY_WARNING) + #undef JSON_HEDLEY_WARNING +#endif +#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas") +# define JSON_HEDLEY_WARNING(msg) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \ + JSON_HEDLEY_PRAGMA(clang warning msg) \ + JSON_HEDLEY_DIAGNOSTIC_POP +#elif \ + JSON_HEDLEY_GCC_VERSION_CHECK(4,8,0) || \ + JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \ + JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) +# define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(GCC warning msg) +#elif \ + JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) +# define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(message(msg)) +#else +# define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_MESSAGE(msg) +#endif + +#if defined(JSON_HEDLEY_REQUIRE) + #undef JSON_HEDLEY_REQUIRE +#endif +#if defined(JSON_HEDLEY_REQUIRE_MSG) + #undef JSON_HEDLEY_REQUIRE_MSG +#endif +#if JSON_HEDLEY_HAS_ATTRIBUTE(diagnose_if) +# if JSON_HEDLEY_HAS_WARNING("-Wgcc-compat") +# define JSON_HEDLEY_REQUIRE(expr) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \ + __attribute__((diagnose_if(!(expr), #expr, "error"))) \ + JSON_HEDLEY_DIAGNOSTIC_POP +# define JSON_HEDLEY_REQUIRE_MSG(expr,msg) \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \ + __attribute__((diagnose_if(!(expr), msg, "error"))) \ + JSON_HEDLEY_DIAGNOSTIC_POP +# else +# define JSON_HEDLEY_REQUIRE(expr) __attribute__((diagnose_if(!(expr), #expr, "error"))) +# define JSON_HEDLEY_REQUIRE_MSG(expr,msg) __attribute__((diagnose_if(!(expr), msg, "error"))) +# endif +#else +# define JSON_HEDLEY_REQUIRE(expr) +# define JSON_HEDLEY_REQUIRE_MSG(expr,msg) +#endif + +#if defined(JSON_HEDLEY_FLAGS) + #undef JSON_HEDLEY_FLAGS +#endif +#if JSON_HEDLEY_HAS_ATTRIBUTE(flag_enum) && (!defined(__cplusplus) || JSON_HEDLEY_HAS_WARNING("-Wbitfield-enum-conversion")) + #define JSON_HEDLEY_FLAGS __attribute__((__flag_enum__)) +#else + #define JSON_HEDLEY_FLAGS +#endif + +#if defined(JSON_HEDLEY_FLAGS_CAST) + #undef JSON_HEDLEY_FLAGS_CAST +#endif +#if JSON_HEDLEY_INTEL_VERSION_CHECK(19,0,0) +# define JSON_HEDLEY_FLAGS_CAST(T, expr) (__extension__ ({ \ + JSON_HEDLEY_DIAGNOSTIC_PUSH \ + _Pragma("warning(disable:188)") \ + ((T) (expr)); \ + JSON_HEDLEY_DIAGNOSTIC_POP \ + })) +#else +# define JSON_HEDLEY_FLAGS_CAST(T, expr) JSON_HEDLEY_STATIC_CAST(T, expr) +#endif + +#if defined(JSON_HEDLEY_EMPTY_BASES) + #undef JSON_HEDLEY_EMPTY_BASES +#endif +#if \ + (JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,23918) && !JSON_HEDLEY_MSVC_VERSION_CHECK(20,0,0)) || \ + JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) + #define JSON_HEDLEY_EMPTY_BASES __declspec(empty_bases) +#else + #define JSON_HEDLEY_EMPTY_BASES +#endif + +/* Remaining macros are deprecated. */ + +#if defined(JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK) + #undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK +#endif +#if defined(__clang__) + #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) (0) +#else + #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) +#endif + +#if defined(JSON_HEDLEY_CLANG_HAS_ATTRIBUTE) + #undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE +#endif +#define JSON_HEDLEY_CLANG_HAS_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_ATTRIBUTE(attribute) + +#if defined(JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE) + #undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE +#endif +#define JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) + +#if defined(JSON_HEDLEY_CLANG_HAS_BUILTIN) + #undef JSON_HEDLEY_CLANG_HAS_BUILTIN +#endif +#define JSON_HEDLEY_CLANG_HAS_BUILTIN(builtin) JSON_HEDLEY_HAS_BUILTIN(builtin) + +#if defined(JSON_HEDLEY_CLANG_HAS_FEATURE) + #undef JSON_HEDLEY_CLANG_HAS_FEATURE +#endif +#define JSON_HEDLEY_CLANG_HAS_FEATURE(feature) JSON_HEDLEY_HAS_FEATURE(feature) + +#if defined(JSON_HEDLEY_CLANG_HAS_EXTENSION) + #undef JSON_HEDLEY_CLANG_HAS_EXTENSION +#endif +#define JSON_HEDLEY_CLANG_HAS_EXTENSION(extension) JSON_HEDLEY_HAS_EXTENSION(extension) + +#if defined(JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE) + #undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE +#endif +#define JSON_HEDLEY_CLANG_HAS_DECLSPEC_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) + +#if defined(JSON_HEDLEY_CLANG_HAS_WARNING) + #undef JSON_HEDLEY_CLANG_HAS_WARNING +#endif +#define JSON_HEDLEY_CLANG_HAS_WARNING(warning) JSON_HEDLEY_HAS_WARNING(warning) + +#endif /* !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < X) */ + + +// This file contains all internal macro definitions (except those affecting ABI) +// You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them + +// #include + + +// exclude unsupported compilers +#if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK) + #if defined(__clang__) + #if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < 30400 + #error "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers" + #endif + #elif defined(__GNUC__) && !(defined(__ICC) || defined(__INTEL_COMPILER)) + #if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40800 + #error "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers" + #endif + #endif +#endif + +// C++ language standard detection +// if the user manually specified the used c++ version this is skipped +#if !defined(JSON_HAS_CPP_20) && !defined(JSON_HAS_CPP_17) && !defined(JSON_HAS_CPP_14) && !defined(JSON_HAS_CPP_11) + #if (defined(__cplusplus) && __cplusplus >= 202002L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 202002L) + #define JSON_HAS_CPP_20 + #define JSON_HAS_CPP_17 + #define JSON_HAS_CPP_14 + #elif (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464 + #define JSON_HAS_CPP_17 + #define JSON_HAS_CPP_14 + #elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1) + #define JSON_HAS_CPP_14 + #endif + // the cpp 11 flag is always specified because it is the minimal required version + #define JSON_HAS_CPP_11 +#endif + +#ifdef __has_include + #if __has_include() + #include + #endif +#endif + +#if !defined(JSON_HAS_FILESYSTEM) && !defined(JSON_HAS_EXPERIMENTAL_FILESYSTEM) + #ifdef JSON_HAS_CPP_17 + #if defined(__cpp_lib_filesystem) + #define JSON_HAS_FILESYSTEM 1 + #elif defined(__cpp_lib_experimental_filesystem) + #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1 + #elif !defined(__has_include) + #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1 + #elif __has_include() + #define JSON_HAS_FILESYSTEM 1 + #elif __has_include() + #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1 + #endif + + // std::filesystem does not work on MinGW GCC 8: https://sourceforge.net/p/mingw-w64/bugs/737/ + #if defined(__MINGW32__) && defined(__GNUC__) && __GNUC__ == 8 + #undef JSON_HAS_FILESYSTEM + #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM + #endif + + // no filesystem support before GCC 8: https://en.cppreference.com/w/cpp/compiler_support + #if defined(__GNUC__) && !defined(__clang__) && __GNUC__ < 8 + #undef JSON_HAS_FILESYSTEM + #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM + #endif + + // no filesystem support before Clang 7: https://en.cppreference.com/w/cpp/compiler_support + #if defined(__clang_major__) && __clang_major__ < 7 + #undef JSON_HAS_FILESYSTEM + #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM + #endif + + // no filesystem support before MSVC 19.14: https://en.cppreference.com/w/cpp/compiler_support + #if defined(_MSC_VER) && _MSC_VER < 1914 + #undef JSON_HAS_FILESYSTEM + #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM + #endif + + // no filesystem support before iOS 13 + #if defined(__IPHONE_OS_VERSION_MIN_REQUIRED) && __IPHONE_OS_VERSION_MIN_REQUIRED < 130000 + #undef JSON_HAS_FILESYSTEM + #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM + #endif + + // no filesystem support before macOS Catalina + #if defined(__MAC_OS_X_VERSION_MIN_REQUIRED) && __MAC_OS_X_VERSION_MIN_REQUIRED < 101500 + #undef JSON_HAS_FILESYSTEM + #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM + #endif + #endif +#endif + +#ifndef JSON_HAS_EXPERIMENTAL_FILESYSTEM + #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 0 +#endif + +#ifndef JSON_HAS_FILESYSTEM + #define JSON_HAS_FILESYSTEM 0 +#endif + +#ifndef JSON_HAS_THREE_WAY_COMPARISON + #if defined(__cpp_impl_three_way_comparison) && __cpp_impl_three_way_comparison >= 201907L \ + && defined(__cpp_lib_three_way_comparison) && __cpp_lib_three_way_comparison >= 201907L + #define JSON_HAS_THREE_WAY_COMPARISON 1 + #else + #define JSON_HAS_THREE_WAY_COMPARISON 0 + #endif +#endif + +#ifndef JSON_HAS_RANGES + // ranges header shipping in GCC 11.1.0 (released 2021-04-27) has syntax error + #if defined(__GLIBCXX__) && __GLIBCXX__ == 20210427 + #define JSON_HAS_RANGES 0 + #elif defined(__cpp_lib_ranges) + #define JSON_HAS_RANGES 1 + #else + #define JSON_HAS_RANGES 0 + #endif +#endif + +#ifdef JSON_HAS_CPP_17 + #define JSON_INLINE_VARIABLE inline +#else + #define JSON_INLINE_VARIABLE +#endif + +#if JSON_HEDLEY_HAS_ATTRIBUTE(no_unique_address) + #define JSON_NO_UNIQUE_ADDRESS [[no_unique_address]] +#else + #define JSON_NO_UNIQUE_ADDRESS +#endif + +// disable documentation warnings on clang +#if defined(__clang__) + #pragma clang diagnostic push + #pragma clang diagnostic ignored "-Wdocumentation" + #pragma clang diagnostic ignored "-Wdocumentation-unknown-command" +#endif + +// allow disabling exceptions +#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND)) && !defined(JSON_NOEXCEPTION) + #define JSON_THROW(exception) throw exception + #define JSON_TRY try + #define JSON_CATCH(exception) catch(exception) + #define JSON_INTERNAL_CATCH(exception) catch(exception) +#else + #include + #define JSON_THROW(exception) std::abort() + #define JSON_TRY if(true) + #define JSON_CATCH(exception) if(false) + #define JSON_INTERNAL_CATCH(exception) if(false) +#endif + +// override exception macros +#if defined(JSON_THROW_USER) + #undef JSON_THROW + #define JSON_THROW JSON_THROW_USER +#endif +#if defined(JSON_TRY_USER) + #undef JSON_TRY + #define JSON_TRY JSON_TRY_USER +#endif +#if defined(JSON_CATCH_USER) + #undef JSON_CATCH + #define JSON_CATCH JSON_CATCH_USER + #undef JSON_INTERNAL_CATCH + #define JSON_INTERNAL_CATCH JSON_CATCH_USER +#endif +#if defined(JSON_INTERNAL_CATCH_USER) + #undef JSON_INTERNAL_CATCH + #define JSON_INTERNAL_CATCH JSON_INTERNAL_CATCH_USER +#endif + +// allow overriding assert +#if !defined(JSON_ASSERT) + #include // assert + #define JSON_ASSERT(x) assert(x) +#endif + +// allow to access some private functions (needed by the test suite) +#if defined(JSON_TESTS_PRIVATE) + #define JSON_PRIVATE_UNLESS_TESTED public +#else + #define JSON_PRIVATE_UNLESS_TESTED private +#endif + +/*! +@brief macro to briefly define a mapping between an enum and JSON +@def NLOHMANN_JSON_SERIALIZE_ENUM +@since version 3.4.0 +*/ +#define NLOHMANN_JSON_SERIALIZE_ENUM(ENUM_TYPE, ...) \ + template \ + inline void to_json(BasicJsonType& j, const ENUM_TYPE& e) \ + { \ + static_assert(std::is_enum::value, #ENUM_TYPE " must be an enum!"); \ + static const std::pair m[] = __VA_ARGS__; \ + auto it = std::find_if(std::begin(m), std::end(m), \ + [e](const std::pair& ej_pair) -> bool \ + { \ + return ej_pair.first == e; \ + }); \ + j = ((it != std::end(m)) ? it : std::begin(m))->second; \ + } \ + template \ + inline void from_json(const BasicJsonType& j, ENUM_TYPE& e) \ + { \ + static_assert(std::is_enum::value, #ENUM_TYPE " must be an enum!"); \ + static const std::pair m[] = __VA_ARGS__; \ + auto it = std::find_if(std::begin(m), std::end(m), \ + [&j](const std::pair& ej_pair) -> bool \ + { \ + return ej_pair.second == j; \ + }); \ + e = ((it != std::end(m)) ? it : std::begin(m))->first; \ + } + +// Ugly macros to avoid uglier copy-paste when specializing basic_json. They +// may be removed in the future once the class is split. + +#define NLOHMANN_BASIC_JSON_TPL_DECLARATION \ + template class ObjectType, \ + template class ArrayType, \ + class StringType, class BooleanType, class NumberIntegerType, \ + class NumberUnsignedType, class NumberFloatType, \ + template class AllocatorType, \ + template class JSONSerializer, \ + class BinaryType> + +#define NLOHMANN_BASIC_JSON_TPL \ + basic_json + +// Macros to simplify conversion from/to types + +#define NLOHMANN_JSON_EXPAND( x ) x +#define NLOHMANN_JSON_GET_MACRO(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, _11, _12, _13, _14, _15, _16, _17, _18, _19, _20, _21, _22, _23, _24, _25, _26, _27, _28, _29, _30, _31, _32, _33, _34, _35, _36, _37, _38, _39, _40, _41, _42, _43, _44, _45, _46, _47, _48, _49, _50, _51, _52, _53, _54, _55, _56, _57, _58, _59, _60, _61, _62, _63, _64, NAME,...) NAME +#define NLOHMANN_JSON_PASTE(...) NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_GET_MACRO(__VA_ARGS__, \ + NLOHMANN_JSON_PASTE64, \ + NLOHMANN_JSON_PASTE63, \ + NLOHMANN_JSON_PASTE62, \ + NLOHMANN_JSON_PASTE61, \ + NLOHMANN_JSON_PASTE60, \ + NLOHMANN_JSON_PASTE59, \ + NLOHMANN_JSON_PASTE58, \ + NLOHMANN_JSON_PASTE57, \ + NLOHMANN_JSON_PASTE56, \ + NLOHMANN_JSON_PASTE55, \ + NLOHMANN_JSON_PASTE54, \ + NLOHMANN_JSON_PASTE53, \ + NLOHMANN_JSON_PASTE52, \ + NLOHMANN_JSON_PASTE51, \ + NLOHMANN_JSON_PASTE50, \ + NLOHMANN_JSON_PASTE49, \ + NLOHMANN_JSON_PASTE48, \ + NLOHMANN_JSON_PASTE47, \ + NLOHMANN_JSON_PASTE46, \ + NLOHMANN_JSON_PASTE45, \ + NLOHMANN_JSON_PASTE44, \ + NLOHMANN_JSON_PASTE43, \ + NLOHMANN_JSON_PASTE42, \ + NLOHMANN_JSON_PASTE41, \ + NLOHMANN_JSON_PASTE40, \ + NLOHMANN_JSON_PASTE39, \ + NLOHMANN_JSON_PASTE38, \ + NLOHMANN_JSON_PASTE37, \ + NLOHMANN_JSON_PASTE36, \ + NLOHMANN_JSON_PASTE35, \ + NLOHMANN_JSON_PASTE34, \ + NLOHMANN_JSON_PASTE33, \ + NLOHMANN_JSON_PASTE32, \ + NLOHMANN_JSON_PASTE31, \ + NLOHMANN_JSON_PASTE30, \ + NLOHMANN_JSON_PASTE29, \ + NLOHMANN_JSON_PASTE28, \ + NLOHMANN_JSON_PASTE27, \ + NLOHMANN_JSON_PASTE26, \ + NLOHMANN_JSON_PASTE25, \ + NLOHMANN_JSON_PASTE24, \ + NLOHMANN_JSON_PASTE23, \ + NLOHMANN_JSON_PASTE22, \ + NLOHMANN_JSON_PASTE21, \ + NLOHMANN_JSON_PASTE20, \ + NLOHMANN_JSON_PASTE19, \ + NLOHMANN_JSON_PASTE18, \ + NLOHMANN_JSON_PASTE17, \ + NLOHMANN_JSON_PASTE16, \ + NLOHMANN_JSON_PASTE15, \ + NLOHMANN_JSON_PASTE14, \ + NLOHMANN_JSON_PASTE13, \ + NLOHMANN_JSON_PASTE12, \ + NLOHMANN_JSON_PASTE11, \ + NLOHMANN_JSON_PASTE10, \ + NLOHMANN_JSON_PASTE9, \ + NLOHMANN_JSON_PASTE8, \ + NLOHMANN_JSON_PASTE7, \ + NLOHMANN_JSON_PASTE6, \ + NLOHMANN_JSON_PASTE5, \ + NLOHMANN_JSON_PASTE4, \ + NLOHMANN_JSON_PASTE3, \ + NLOHMANN_JSON_PASTE2, \ + NLOHMANN_JSON_PASTE1)(__VA_ARGS__)) +#define NLOHMANN_JSON_PASTE2(func, v1) func(v1) +#define NLOHMANN_JSON_PASTE3(func, v1, v2) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE2(func, v2) +#define NLOHMANN_JSON_PASTE4(func, v1, v2, v3) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE3(func, v2, v3) +#define NLOHMANN_JSON_PASTE5(func, v1, v2, v3, v4) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE4(func, v2, v3, v4) +#define NLOHMANN_JSON_PASTE6(func, v1, v2, v3, v4, v5) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE5(func, v2, v3, v4, v5) +#define NLOHMANN_JSON_PASTE7(func, v1, v2, v3, v4, v5, v6) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE6(func, v2, v3, v4, v5, v6) +#define NLOHMANN_JSON_PASTE8(func, v1, v2, v3, v4, v5, v6, v7) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE7(func, v2, v3, v4, v5, v6, v7) +#define NLOHMANN_JSON_PASTE9(func, v1, v2, v3, v4, v5, v6, v7, v8) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE8(func, v2, v3, v4, v5, v6, v7, v8) +#define NLOHMANN_JSON_PASTE10(func, v1, v2, v3, v4, v5, v6, v7, v8, v9) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE9(func, v2, v3, v4, v5, v6, v7, v8, v9) +#define NLOHMANN_JSON_PASTE11(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE10(func, v2, v3, v4, v5, v6, v7, v8, v9, v10) +#define NLOHMANN_JSON_PASTE12(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE11(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11) +#define NLOHMANN_JSON_PASTE13(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE12(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12) +#define NLOHMANN_JSON_PASTE14(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE13(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) +#define NLOHMANN_JSON_PASTE15(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE14(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14) +#define NLOHMANN_JSON_PASTE16(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE15(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15) +#define NLOHMANN_JSON_PASTE17(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE16(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) +#define NLOHMANN_JSON_PASTE18(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE17(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17) +#define NLOHMANN_JSON_PASTE19(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE18(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18) +#define NLOHMANN_JSON_PASTE20(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE19(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19) +#define NLOHMANN_JSON_PASTE21(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE20(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20) +#define NLOHMANN_JSON_PASTE22(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE21(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21) +#define NLOHMANN_JSON_PASTE23(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE22(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22) +#define NLOHMANN_JSON_PASTE24(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE23(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23) +#define NLOHMANN_JSON_PASTE25(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE24(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24) +#define NLOHMANN_JSON_PASTE26(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE25(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25) +#define NLOHMANN_JSON_PASTE27(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE26(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26) +#define NLOHMANN_JSON_PASTE28(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE27(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27) +#define NLOHMANN_JSON_PASTE29(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE28(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28) +#define NLOHMANN_JSON_PASTE30(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE29(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29) +#define NLOHMANN_JSON_PASTE31(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE30(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30) +#define NLOHMANN_JSON_PASTE32(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE31(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31) +#define NLOHMANN_JSON_PASTE33(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE32(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32) +#define NLOHMANN_JSON_PASTE34(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE33(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33) +#define NLOHMANN_JSON_PASTE35(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE34(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34) +#define NLOHMANN_JSON_PASTE36(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE35(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35) +#define NLOHMANN_JSON_PASTE37(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE36(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36) +#define NLOHMANN_JSON_PASTE38(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE37(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37) +#define NLOHMANN_JSON_PASTE39(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE38(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38) +#define NLOHMANN_JSON_PASTE40(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE39(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39) +#define NLOHMANN_JSON_PASTE41(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE40(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40) +#define NLOHMANN_JSON_PASTE42(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE41(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41) +#define NLOHMANN_JSON_PASTE43(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE42(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42) +#define NLOHMANN_JSON_PASTE44(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE43(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43) +#define NLOHMANN_JSON_PASTE45(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE44(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44) +#define NLOHMANN_JSON_PASTE46(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE45(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45) +#define NLOHMANN_JSON_PASTE47(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE46(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46) +#define NLOHMANN_JSON_PASTE48(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE47(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47) +#define NLOHMANN_JSON_PASTE49(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE48(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48) +#define NLOHMANN_JSON_PASTE50(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE49(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49) +#define NLOHMANN_JSON_PASTE51(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE50(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50) +#define NLOHMANN_JSON_PASTE52(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE51(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51) +#define NLOHMANN_JSON_PASTE53(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE52(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52) +#define NLOHMANN_JSON_PASTE54(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE53(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53) +#define NLOHMANN_JSON_PASTE55(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE54(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54) +#define NLOHMANN_JSON_PASTE56(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE55(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55) +#define NLOHMANN_JSON_PASTE57(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE56(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56) +#define NLOHMANN_JSON_PASTE58(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE57(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57) +#define NLOHMANN_JSON_PASTE59(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE58(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58) +#define NLOHMANN_JSON_PASTE60(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE59(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59) +#define NLOHMANN_JSON_PASTE61(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE60(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60) +#define NLOHMANN_JSON_PASTE62(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE61(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61) +#define NLOHMANN_JSON_PASTE63(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE62(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62) +#define NLOHMANN_JSON_PASTE64(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE63(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63) + +#define NLOHMANN_JSON_TO(v1) nlohmann_json_j[#v1] = nlohmann_json_t.v1; +#define NLOHMANN_JSON_FROM(v1) nlohmann_json_j.at(#v1).get_to(nlohmann_json_t.v1); +#define NLOHMANN_JSON_FROM_WITH_DEFAULT(v1) nlohmann_json_t.v1 = nlohmann_json_j.value(#v1, nlohmann_json_default_obj.v1); + +/*! +@brief macro +@def NLOHMANN_DEFINE_TYPE_INTRUSIVE +@since version 3.9.0 +*/ +#define NLOHMANN_DEFINE_TYPE_INTRUSIVE(Type, ...) \ + friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \ + friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) } + +#define NLOHMANN_DEFINE_TYPE_INTRUSIVE_WITH_DEFAULT(Type, ...) \ + friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \ + friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { Type nlohmann_json_default_obj; NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) } + +/*! +@brief macro +@def NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE +@since version 3.9.0 +*/ +#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Type, ...) \ + inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \ + inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) } + +#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(Type, ...) \ + inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \ + inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { Type nlohmann_json_default_obj; NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) } + + +// inspired from https://stackoverflow.com/a/26745591 +// allows to call any std function as if (e.g. with begin): +// using std::begin; begin(x); +// +// it allows using the detected idiom to retrieve the return type +// of such an expression +#define NLOHMANN_CAN_CALL_STD_FUNC_IMPL(std_name) \ + namespace detail { \ + using std::std_name; \ + \ + template \ + using result_of_##std_name = decltype(std_name(std::declval()...)); \ + } \ + \ + namespace detail2 { \ + struct std_name##_tag \ + { \ + }; \ + \ + template \ + std_name##_tag std_name(T&&...); \ + \ + template \ + using result_of_##std_name = decltype(std_name(std::declval()...)); \ + \ + template \ + struct would_call_std_##std_name \ + { \ + static constexpr auto const value = ::nlohmann::detail:: \ + is_detected_exact::value; \ + }; \ + } /* namespace detail2 */ \ + \ + template \ + struct would_call_std_##std_name : detail2::would_call_std_##std_name \ + { \ + } + +#ifndef JSON_USE_IMPLICIT_CONVERSIONS + #define JSON_USE_IMPLICIT_CONVERSIONS 1 +#endif + +#if JSON_USE_IMPLICIT_CONVERSIONS + #define JSON_EXPLICIT +#else + #define JSON_EXPLICIT explicit +#endif + +#ifndef JSON_DISABLE_ENUM_SERIALIZATION + #define JSON_DISABLE_ENUM_SERIALIZATION 0 +#endif + +#ifndef JSON_USE_GLOBAL_UDLS + #define JSON_USE_GLOBAL_UDLS 1 +#endif + +#if JSON_HAS_THREE_WAY_COMPARISON + #include // partial_ordering +#endif + +NLOHMANN_JSON_NAMESPACE_BEGIN +namespace detail +{ + +/////////////////////////// +// JSON type enumeration // +/////////////////////////// + +/*! +@brief the JSON type enumeration + +This enumeration collects the different JSON types. It is internally used to +distinguish the stored values, and the functions @ref basic_json::is_null(), +@ref basic_json::is_object(), @ref basic_json::is_array(), +@ref basic_json::is_string(), @ref basic_json::is_boolean(), +@ref basic_json::is_number() (with @ref basic_json::is_number_integer(), +@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()), +@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and +@ref basic_json::is_structured() rely on it. + +@note There are three enumeration entries (number_integer, number_unsigned, and +number_float), because the library distinguishes these three types for numbers: +@ref basic_json::number_unsigned_t is used for unsigned integers, +@ref basic_json::number_integer_t is used for signed integers, and +@ref basic_json::number_float_t is used for floating-point numbers or to +approximate integers which do not fit in the limits of their respective type. + +@sa see @ref basic_json::basic_json(const value_t value_type) -- create a JSON +value with the default value for a given type + +@since version 1.0.0 +*/ +enum class value_t : std::uint8_t +{ + null, ///< null value + object, ///< object (unordered set of name/value pairs) + array, ///< array (ordered collection of values) + string, ///< string value + boolean, ///< boolean value + number_integer, ///< number value (signed integer) + number_unsigned, ///< number value (unsigned integer) + number_float, ///< number value (floating-point) + binary, ///< binary array (ordered collection of bytes) + discarded ///< discarded by the parser callback function +}; + +/*! +@brief comparison operator for JSON types + +Returns an ordering that is similar to Python: +- order: null < boolean < number < object < array < string < binary +- furthermore, each type is not smaller than itself +- discarded values are not comparable +- binary is represented as a b"" string in python and directly comparable to a + string; however, making a binary array directly comparable with a string would + be surprising behavior in a JSON file. + +@since version 1.0.0 +*/ +#if JSON_HAS_THREE_WAY_COMPARISON + inline std::partial_ordering operator<=>(const value_t lhs, const value_t rhs) noexcept // *NOPAD* +#else + inline bool operator<(const value_t lhs, const value_t rhs) noexcept +#endif +{ + static constexpr std::array order = {{ + 0 /* null */, 3 /* object */, 4 /* array */, 5 /* string */, + 1 /* boolean */, 2 /* integer */, 2 /* unsigned */, 2 /* float */, + 6 /* binary */ + } + }; + + const auto l_index = static_cast(lhs); + const auto r_index = static_cast(rhs); +#if JSON_HAS_THREE_WAY_COMPARISON + if (l_index < order.size() && r_index < order.size()) + { + return order[l_index] <=> order[r_index]; // *NOPAD* + } + return std::partial_ordering::unordered; +#else + return l_index < order.size() && r_index < order.size() && order[l_index] < order[r_index]; +#endif +} + +// GCC selects the built-in operator< over an operator rewritten from +// a user-defined spaceship operator +// Clang, MSVC, and ICC select the rewritten candidate +// (see GCC bug https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105200) +#if JSON_HAS_THREE_WAY_COMPARISON && defined(__GNUC__) +inline bool operator<(const value_t lhs, const value_t rhs) noexcept +{ + return std::is_lt(lhs <=> rhs); // *NOPAD* +} +#endif + +} // namespace detail +NLOHMANN_JSON_NAMESPACE_END + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +// #include + + +NLOHMANN_JSON_NAMESPACE_BEGIN +namespace detail +{ + +/*! +@brief replace all occurrences of a substring by another string + +@param[in,out] s the string to manipulate; changed so that all + occurrences of @a f are replaced with @a t +@param[in] f the substring to replace with @a t +@param[in] t the string to replace @a f + +@pre The search string @a f must not be empty. **This precondition is +enforced with an assertion.** + +@since version 2.0.0 +*/ +template +inline void replace_substring(StringType& s, const StringType& f, + const StringType& t) +{ + JSON_ASSERT(!f.empty()); + for (auto pos = s.find(f); // find first occurrence of f + pos != StringType::npos; // make sure f was found + s.replace(pos, f.size(), t), // replace with t, and + pos = s.find(f, pos + t.size())) // find next occurrence of f + {} +} + +/*! + * @brief string escaping as described in RFC 6901 (Sect. 4) + * @param[in] s string to escape + * @return escaped string + * + * Note the order of escaping "~" to "~0" and "/" to "~1" is important. + */ +template +inline StringType escape(StringType s) +{ + replace_substring(s, StringType{"~"}, StringType{"~0"}); + replace_substring(s, StringType{"/"}, StringType{"~1"}); + return s; +} + +/*! + * @brief string unescaping as described in RFC 6901 (Sect. 4) + * @param[in] s string to unescape + * @return unescaped string + * + * Note the order of escaping "~1" to "/" and "~0" to "~" is important. + */ +template +static void unescape(StringType& s) +{ + replace_substring(s, StringType{"~1"}, StringType{"/"}); + replace_substring(s, StringType{"~0"}, StringType{"~"}); +} + +} // namespace detail +NLOHMANN_JSON_NAMESPACE_END + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include // size_t + +// #include + + +NLOHMANN_JSON_NAMESPACE_BEGIN +namespace detail +{ + +/// struct to capture the start position of the current token +struct position_t +{ + /// the total number of characters read + std::size_t chars_read_total = 0; + /// the number of characters read in the current line + std::size_t chars_read_current_line = 0; + /// the number of lines read + std::size_t lines_read = 0; + + /// conversion to size_t to preserve SAX interface + constexpr operator size_t() const + { + return chars_read_total; + } +}; + +} // namespace detail +NLOHMANN_JSON_NAMESPACE_END + +// #include + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-FileCopyrightText: 2018 The Abseil Authors +// SPDX-License-Identifier: MIT + + + +#include // array +#include // size_t +#include // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type +#include // index_sequence, make_index_sequence, index_sequence_for + +// #include + + +NLOHMANN_JSON_NAMESPACE_BEGIN +namespace detail +{ + +template +using uncvref_t = typename std::remove_cv::type>::type; + +#ifdef JSON_HAS_CPP_14 + +// the following utilities are natively available in C++14 +using std::enable_if_t; +using std::index_sequence; +using std::make_index_sequence; +using std::index_sequence_for; + +#else + +// alias templates to reduce boilerplate +template +using enable_if_t = typename std::enable_if::type; + +// The following code is taken from https://github.com/abseil/abseil-cpp/blob/10cb35e459f5ecca5b2ff107635da0bfa41011b4/absl/utility/utility.h +// which is part of Google Abseil (https://github.com/abseil/abseil-cpp), licensed under the Apache License 2.0. + +//// START OF CODE FROM GOOGLE ABSEIL + +// integer_sequence +// +// Class template representing a compile-time integer sequence. An instantiation +// of `integer_sequence` has a sequence of integers encoded in its +// type through its template arguments (which is a common need when +// working with C++11 variadic templates). `absl::integer_sequence` is designed +// to be a drop-in replacement for C++14's `std::integer_sequence`. +// +// Example: +// +// template< class T, T... Ints > +// void user_function(integer_sequence); +// +// int main() +// { +// // user_function's `T` will be deduced to `int` and `Ints...` +// // will be deduced to `0, 1, 2, 3, 4`. +// user_function(make_integer_sequence()); +// } +template +struct integer_sequence +{ + using value_type = T; + static constexpr std::size_t size() noexcept + { + return sizeof...(Ints); + } +}; + +// index_sequence +// +// A helper template for an `integer_sequence` of `size_t`, +// `absl::index_sequence` is designed to be a drop-in replacement for C++14's +// `std::index_sequence`. +template +using index_sequence = integer_sequence; + +namespace utility_internal +{ + +template +struct Extend; + +// Note that SeqSize == sizeof...(Ints). It's passed explicitly for efficiency. +template +struct Extend, SeqSize, 0> +{ + using type = integer_sequence < T, Ints..., (Ints + SeqSize)... >; +}; + +template +struct Extend, SeqSize, 1> +{ + using type = integer_sequence < T, Ints..., (Ints + SeqSize)..., 2 * SeqSize >; +}; + +// Recursion helper for 'make_integer_sequence'. +// 'Gen::type' is an alias for 'integer_sequence'. +template +struct Gen +{ + using type = + typename Extend < typename Gen < T, N / 2 >::type, N / 2, N % 2 >::type; +}; + +template +struct Gen +{ + using type = integer_sequence; +}; + +} // namespace utility_internal + +// Compile-time sequences of integers + +// make_integer_sequence +// +// This template alias is equivalent to +// `integer_sequence`, and is designed to be a drop-in +// replacement for C++14's `std::make_integer_sequence`. +template +using make_integer_sequence = typename utility_internal::Gen::type; + +// make_index_sequence +// +// This template alias is equivalent to `index_sequence<0, 1, ..., N-1>`, +// and is designed to be a drop-in replacement for C++14's +// `std::make_index_sequence`. +template +using make_index_sequence = make_integer_sequence; + +// index_sequence_for +// +// Converts a typename pack into an index sequence of the same length, and +// is designed to be a drop-in replacement for C++14's +// `std::index_sequence_for()` +template +using index_sequence_for = make_index_sequence; + +//// END OF CODE FROM GOOGLE ABSEIL + +#endif + +// dispatch utility (taken from ranges-v3) +template struct priority_tag : priority_tag < N - 1 > {}; +template<> struct priority_tag<0> {}; + +// taken from ranges-v3 +template +struct static_const +{ + static JSON_INLINE_VARIABLE constexpr T value{}; +}; + +#ifndef JSON_HAS_CPP_17 + template + constexpr T static_const::value; +#endif + +template +inline constexpr std::array make_array(Args&& ... args) +{ + return std::array {{static_cast(std::forward(args))...}}; +} + +} // namespace detail +NLOHMANN_JSON_NAMESPACE_END + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include // numeric_limits +#include // false_type, is_constructible, is_integral, is_same, true_type +#include // declval +#include // tuple + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +#include // random_access_iterator_tag + +// #include + +// #include + +// #include + + +NLOHMANN_JSON_NAMESPACE_BEGIN +namespace detail +{ + +template +struct iterator_types {}; + +template +struct iterator_types < + It, + void_t> +{ + using difference_type = typename It::difference_type; + using value_type = typename It::value_type; + using pointer = typename It::pointer; + using reference = typename It::reference; + using iterator_category = typename It::iterator_category; +}; + +// This is required as some compilers implement std::iterator_traits in a way that +// doesn't work with SFINAE. See https://github.com/nlohmann/json/issues/1341. +template +struct iterator_traits +{ +}; + +template +struct iterator_traits < T, enable_if_t < !std::is_pointer::value >> + : iterator_types +{ +}; + +template +struct iterator_traits::value>> +{ + using iterator_category = std::random_access_iterator_tag; + using value_type = T; + using difference_type = ptrdiff_t; + using pointer = T*; + using reference = T&; +}; + +} // namespace detail +NLOHMANN_JSON_NAMESPACE_END + +// #include + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +// #include + + +NLOHMANN_JSON_NAMESPACE_BEGIN + +NLOHMANN_CAN_CALL_STD_FUNC_IMPL(begin); + +NLOHMANN_JSON_NAMESPACE_END + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + + + +// #include + + +NLOHMANN_JSON_NAMESPACE_BEGIN + +NLOHMANN_CAN_CALL_STD_FUNC_IMPL(end); + +NLOHMANN_JSON_NAMESPACE_END + +// #include + +// #include + +// #include +// __ _____ _____ _____ +// __| | __| | | | JSON for Modern C++ +// | | |__ | | | | | | version 3.11.2 +// |_____|_____|_____|_|___| https://github.com/nlohmann/json +// +// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann +// SPDX-License-Identifier: MIT + +#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_ + #define INCLUDE_NLOHMANN_JSON_FWD_HPP_ + + #include // int64_t, uint64_t + #include // map + #include // allocator + #include // string + #include // vector + + // #include + + + /*! + @brief namespace for Niels Lohmann + @see https://github.com/nlohmann + @since version 1.0.0 + */ + NLOHMANN_JSON_NAMESPACE_BEGIN + + /*! + @brief default JSONSerializer template argument + + This serializer ignores the template arguments and uses ADL + ([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl)) + for serialization. + */ + template + struct adl_serializer; + + /// a class to store JSON values + /// @sa https://json.nlohmann.me/api/basic_json/ + template class ObjectType = + std::map, + template class ArrayType = std::vector, + class StringType = std::string, class BooleanType = bool, + class NumberIntegerType = std::int64_t, + class NumberUnsignedType = std::uint64_t, + class NumberFloatType = double, + template class AllocatorType = std::allocator, + template class JSONSerializer = + adl_serializer, + class BinaryType = std::vector> + class basic_json; + + /// @brief JSON Pointer defines a string syntax for identifying a specific value within a JSON document + /// @sa https://json.nlohmann.me/api/json_pointer/ + template + class json_pointer; + + /*! + @brief default specialization + @sa https://json.nlohmann.me/api/json/ + */ + using json = basic_json<>; + + /// @brief a minimal map-like container that preserves insertion order + /// @sa https://json.nlohmann.me/api/ordered_map/ + template + struct ordered_map; + + /// @brief specialization that maintains the insertion order of object keys + /// @sa https://json.nlohmann.me/api/ordered_json/ + using ordered_json = basic_json; + + NLOHMANN_JSON_NAMESPACE_END + +#endif // INCLUDE_NLOHMANN_JSON_FWD_HPP_ + + +NLOHMANN_JSON_NAMESPACE_BEGIN +/*! +@brief detail namespace with internal helper functions + +This namespace collects functions that should not be exposed, +implementations of some @ref basic_json methods, and meta-programming helpers. + +@since version 2.1.0 +*/ +namespace detail +{ + +///////////// +// helpers // +///////////// + +// Note to maintainers: +// +// Every trait in this file expects a non CV-qualified type. +// The only exceptions are in the 'aliases for detected' section +// (i.e. those of the form: decltype(T::member_function(std::declval()))) +// +// In this case, T has to be properly CV-qualified to constraint the function arguments +// (e.g. to_json(BasicJsonType&, const T&)) + +template struct is_basic_json : std::false_type {}; + +NLOHMANN_BASIC_JSON_TPL_DECLARATION +struct is_basic_json : std::true_type {}; + +// used by exceptions create() member functions +// true_type for pointer to possibly cv-qualified basic_json or std::nullptr_t +// false_type otherwise +template +struct is_basic_json_context : + std::integral_constant < bool, + is_basic_json::type>::type>::value + || std::is_same::value > +{}; + +////////////////////// +// json_ref helpers // +////////////////////// + +template +class json_ref; + +template +struct is_json_ref : std::false_type {}; + +template +struct is_json_ref> : std::true_type {}; + +////////////////////////// +// aliases for detected // +////////////////////////// + +template +using mapped_type_t = typename T::mapped_type; + +template +using key_type_t = typename T::key_type; + +template +using value_type_t = typename T::value_type; + +template +using difference_type_t = typename T::difference_type; + +template +using pointer_t = typename T::pointer; + +template +using reference_t = typename T::reference; + +template +using iterator_category_t = typename T::iterator_category; + +template +using to_json_function = decltype(T::to_json(std::declval()...)); + +template +using from_json_function = decltype(T::from_json(std::declval()...)); + +template +using get_template_function = decltype(std::declval().template get()); + +// trait checking if JSONSerializer::from_json(json const&, udt&) exists +template +struct has_from_json : std::false_type {}; + +// trait checking if j.get is valid +// use this trait instead of std::is_constructible or std::is_convertible, +// both rely on, or make use of implicit conversions, and thus fail when T +// has several constructors/operator= (see https://github.com/nlohmann/json/issues/958) +template +struct is_getable +{ + static constexpr bool value = is_detected::value; +}; + +template +struct has_from_json < BasicJsonType, T, enable_if_t < !is_basic_json::value >> +{ + using serializer = typename BasicJsonType::template json_serializer; + + static constexpr bool value = + is_detected_exact::value; +}; + +// This trait checks if JSONSerializer::from_json(json const&) exists +// this overload is used for non-default-constructible user-defined-types +template +struct has_non_default_from_json : std::false_type {}; + +template +struct has_non_default_from_json < BasicJsonType, T, enable_if_t < !is_basic_json::value >> +{ + using serializer = typename BasicJsonType::template json_serializer; + + static constexpr bool value = + is_detected_exact::value; +}; + +// This trait checks if BasicJsonType::json_serializer::to_json exists +// Do not evaluate the trait when T is a basic_json type, to avoid template instantiation infinite recursion. +template +struct has_to_json : std::false_type {}; + +template +struct has_to_json < BasicJsonType, T, enable_if_t < !is_basic_json::value >> +{ + using serializer = typename BasicJsonType::template json_serializer; + + static constexpr bool value = + is_detected_exact::value; +}; + +template +using detect_key_compare = typename T::key_compare; + +template +struct has_key_compare : std::integral_constant::value> {}; + +// obtains the actual object key comparator +template +struct actual_object_comparator +{ + using object_t = typename BasicJsonType::object_t; + using object_comparator_t = typename BasicJsonType::default_object_comparator_t; + using type = typename std::conditional < has_key_compare::value, + typename object_t::key_compare, object_comparator_t>::type; +}; + +template +using actual_object_comparator_t = typename actual_object_comparator::type; + +/////////////////// +// is_ functions // +/////////////////// + +// https://en.cppreference.com/w/cpp/types/conjunction +template struct conjunction : std::true_type { }; +template struct conjunction : B { }; +template +struct conjunction +: std::conditional(B::value), conjunction, B>::type {}; + +// https://en.cppreference.com/w/cpp/types/negation +template struct negation : std::integral_constant < bool, !B::value > { }; + +// Reimplementation of is_constructible and is_default_constructible, due to them being broken for +// std::pair and std::tuple until LWG 2367 fix (see https://cplusplus.github.io/LWG/lwg-defects.html#2367). +// This causes compile errors in e.g. clang 3.5 or gcc 4.9. +template +struct is_default_constructible : std::is_default_constructible {}; + +template +struct is_default_constructible> + : conjunction, is_default_constructible> {}; + +template +struct is_default_constructible> + : conjunction, is_default_constructible> {}; + +template +struct is_default_constructible> + : conjunction...> {}; + +template +struct is_default_constructible> + : conjunction...> {}; + + +template +struct is_constructible : std::is_constructible {}; + +template +struct is_constructible> : is_default_constructible> {}; + +template +struct is_constructible> : is_default_constructible> {}; + +template +struct is_constructible> : is_default_constructible> {}; + +template +struct is_constructible> : is_default_constructible> {}; + + +template +struct is_iterator_traits : std::false_type {}; + +template +struct is_iterator_traits> +{ + private: + using traits = iterator_traits; + + public: + static constexpr auto value = + is_detected::value && + is_detected::value && + is_detected::value && + is_detected::value && + is_detected::value; +}; + +template +struct is_range +{ + private: + using t_ref = typename std::add_lvalue_reference::type; + + using iterator = detected_t; + using sentinel = detected_t; + + // to be 100% correct, it should use https://en.cppreference.com/w/cpp/iterator/input_or_output_iterator + // and https://en.cppreference.com/w/cpp/iterator/sentinel_for + // but reimplementing these would be too much work, as a lot of other concepts are used underneath + static constexpr auto is_iterator_begin = + is_iterator_traits>::value; + + public: + static constexpr bool value = !std::is_same::value && !std::is_same::value && is_iterator_begin; +}; + +template +using iterator_t = enable_if_t::value, result_of_begin())>>; + +template +using range_value_t = value_type_t>>; + +// The following implementation of is_complete_type is taken from +// https://blogs.msdn.microsoft.com/vcblog/2015/12/02/partial-support-for-expression-sfinae-in-vs-2015-update-1/ +// and is written by Xiang Fan who agreed to using it in this library. + +template +struct is_complete_type : std::false_type {}; + +template +struct is_complete_type : std::true_type {}; + +template +struct is_compatible_object_type_impl : std::false_type {}; + +template +struct is_compatible_object_type_impl < + BasicJsonType, CompatibleObjectType, + enable_if_t < is_detected::value&& + is_detected::value >> +{ + using object_t = typename BasicJsonType::object_t; + + // macOS's is_constructible does not play well with nonesuch... + static constexpr bool value = + is_constructible::value && + is_constructible::value; +}; + +template +struct is_compatible_object_type + : is_compatible_object_type_impl {}; + +template +struct is_constructible_object_type_impl : std::false_type {}; + +template +struct is_constructible_object_type_impl < + BasicJsonType, ConstructibleObjectType, + enable_if_t < is_detected::value&& + is_detected::value >> +{ + using object_t = typename BasicJsonType::object_t; + + static constexpr bool value = + (is_default_constructible::value && + (std::is_move_assignable::value || + std::is_copy_assignable::value) && + (is_constructible::value && + std::is_same < + typename object_t::mapped_type, + typename ConstructibleObjectType::mapped_type >::value)) || + (has_from_json::value || + has_non_default_from_json < + BasicJsonType, + typename ConstructibleObjectType::mapped_type >::value); +}; + +template +struct is_constructible_object_type + : is_constructible_object_type_impl {}; + +template +struct is_compatible_string_type +{ + static constexpr auto value = + is_constructible::value; +}; + +template +struct is_constructible_string_type +{ + // launder type through decltype() to fix compilation failure on ICPC +#ifdef __INTEL_COMPILER + using laundered_type = decltype(std::declval()); +#else + using laundered_type = ConstructibleStringType; +#endif + + static constexpr auto value = + conjunction < + is_constructible, + is_detected_exact>::value; +}; + +template +struct is_compatible_array_type_impl : std::false_type {}; + +template +struct is_compatible_array_type_impl < + BasicJsonType, CompatibleArrayType, + enable_if_t < + is_detected::value&& + is_iterator_traits>>::value&& +// special case for types like std::filesystem::path whose iterator's value_type are themselves +// c.f. https://github.com/nlohmann/json/pull/3073 + !std::is_same>::value >> +{ + static constexpr bool value = + is_constructible>::value; +}; + +template +struct is_compatible_array_type + : is_compatible_array_type_impl {}; + +template +struct is_constructible_array_type_impl : std::false_type {}; + +template +struct is_constructible_array_type_impl < + BasicJsonType, ConstructibleArrayType, + enable_if_t::value >> + : std::true_type {}; + +template +struct is_constructible_array_type_impl < + BasicJsonType, ConstructibleArrayType, + enable_if_t < !std::is_same::value&& + !is_compatible_string_type::value&& + is_default_constructible::value&& +(std::is_move_assignable::value || + std::is_copy_assignable::value)&& +is_detected::value&& +is_iterator_traits>>::value&& +is_detected::value&& +// special case for types like std::filesystem::path whose iterator's value_type are themselves +// c.f. https://github.com/nlohmann/json/pull/3073 +!std::is_same>::value&& + is_complete_type < + detected_t>::value >> +{ + using value_type = range_value_t; + + static constexpr bool value = + std::is_same::value || + has_from_json::value || + has_non_default_from_json < + BasicJsonType, + value_type >::value; +}; + +template +struct is_constructible_array_type + : is_constructible_array_type_impl {}; + +template +struct is_compatible_integer_type_impl : std::false_type {}; + +template +struct is_compatible_integer_type_impl < + RealIntegerType, CompatibleNumberIntegerType, + enable_if_t < std::is_integral::value&& + std::is_integral::value&& + !std::is_same::value >> +{ + // is there an assert somewhere on overflows? + using RealLimits = std::numeric_limits; + using CompatibleLimits = std::numeric_limits; + + static constexpr auto value = + is_constructible::value && + CompatibleLimits::is_integer && + RealLimits::is_signed == CompatibleLimits::is_signed; +}; + +template +struct is_compatible_integer_type + : is_compatible_integer_type_impl {}; + +template +struct is_compatible_type_impl: std::false_type {}; + +template +struct is_compatible_type_impl < + BasicJsonType, CompatibleType, + enable_if_t::value >> +{ + static constexpr bool value = + has_to_json::value; +}; + +template +struct is_compatible_type + : is_compatible_type_impl {}; + +template +struct is_constructible_tuple : std::false_type {}; + +template +struct is_constructible_tuple> : conjunction...> {}; + +template +struct is_json_iterator_of : std::false_type {}; + +template +struct is_json_iterator_of : std::true_type {}; + +template +struct is_json_iterator_of : std::true_type +{}; + +// checks if a given type T is a template specialization of Primary +template