cl-sensor-msgs 1.12.5-2 / usr / share / common-lisp / ros / sensor_msgs / msg / JointState.lisp

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/usr/share/common-lisp/ros/sensor_msgs/msg/JointState.lisp is in cl-sensor-msgs 1.12.5-2.

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The actual contents of the file can be viewed below. 

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; Auto-generated. Do not edit!


(cl:in-package sensor_msgs-msg)


;//! \htmlinclude JointState.msg.html

(cl:defclass <JointState> (roslisp-msg-protocol:ros-message)
  ((header
    :reader header
    :initarg :header
    :type std_msgs-msg:Header
    :initform (cl:make-instance 'std_msgs-msg:Header))
   (name
    :reader name
    :initarg :name
    :type (cl:vector cl:string)
   :initform (cl:make-array 0 :element-type 'cl:string :initial-element ""))
   (position
    :reader position
    :initarg :position
    :type (cl:vector cl:float)
   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
   (velocity
    :reader velocity
    :initarg :velocity
    :type (cl:vector cl:float)
   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))
   (effort
    :reader effort
    :initarg :effort
    :type (cl:vector cl:float)
   :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)))
)

(cl:defclass JointState (<JointState>)
  ())

(cl:defmethod cl:initialize-instance :after ((m <JointState>) cl:&rest args)
  (cl:declare (cl:ignorable args))
  (cl:unless (cl:typep m 'JointState)
    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name sensor_msgs-msg:<JointState> is deprecated: use sensor_msgs-msg:JointState instead.")))

(cl:ensure-generic-function 'header-val :lambda-list '(m))
(cl:defmethod header-val ((m <JointState>))
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:header-val is deprecated.  Use sensor_msgs-msg:header instead.")
  (header m))

(cl:ensure-generic-function 'name-val :lambda-list '(m))
(cl:defmethod name-val ((m <JointState>))
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:name-val is deprecated.  Use sensor_msgs-msg:name instead.")
  (name m))

(cl:ensure-generic-function 'position-val :lambda-list '(m))
(cl:defmethod position-val ((m <JointState>))
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:position-val is deprecated.  Use sensor_msgs-msg:position instead.")
  (position m))

(cl:ensure-generic-function 'velocity-val :lambda-list '(m))
(cl:defmethod velocity-val ((m <JointState>))
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:velocity-val is deprecated.  Use sensor_msgs-msg:velocity instead.")
  (velocity m))

(cl:ensure-generic-function 'effort-val :lambda-list '(m))
(cl:defmethod effort-val ((m <JointState>))
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:effort-val is deprecated.  Use sensor_msgs-msg:effort instead.")
  (effort m))
(cl:defmethod roslisp-msg-protocol:serialize ((msg <JointState>) ostream)
  "Serializes a message object of type '<JointState>"
  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'name))))
    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((__ros_str_len (cl:length ele)))
    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) ele))
   (cl:slot-value msg 'name))
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'position))))
    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
   (cl:slot-value msg 'position))
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'velocity))))
    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
   (cl:slot-value msg 'velocity))
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'effort))))
    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-double-float-bits ele)))
    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream)))
   (cl:slot-value msg 'effort))
)
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <JointState>) istream)
  "Deserializes a message object of type '<JointState>"
  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
  (cl:let ((__ros_arr_len 0))
    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
  (cl:setf (cl:slot-value msg 'name) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'name)))
    (cl:dotimes (i __ros_arr_len)
    (cl:let ((__ros_str_len 0))
      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
      (cl:setf (cl:aref vals i) (cl:make-string __ros_str_len))
      (cl:dotimes (__ros_str_idx __ros_str_len msg)
        (cl:setf (cl:char (cl:aref vals i) __ros_str_idx) (cl:code-char (cl:read-byte istream))))))))
  (cl:let ((__ros_arr_len 0))
    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
  (cl:setf (cl:slot-value msg 'position) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'position)))
    (cl:dotimes (i __ros_arr_len)
    (cl:let ((bits 0))
      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
  (cl:let ((__ros_arr_len 0))
    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
  (cl:setf (cl:slot-value msg 'velocity) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'velocity)))
    (cl:dotimes (i __ros_arr_len)
    (cl:let ((bits 0))
      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
  (cl:let ((__ros_arr_len 0))
    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
  (cl:setf (cl:slot-value msg 'effort) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'effort)))
    (cl:dotimes (i __ros_arr_len)
    (cl:let ((bits 0))
      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
    (cl:setf (cl:aref vals i) (roslisp-utils:decode-double-float-bits bits))))))
  msg
)
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<JointState>)))
  "Returns string type for a message object of type '<JointState>"
  "sensor_msgs/JointState")
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'JointState)))
  "Returns string type for a message object of type 'JointState"
  "sensor_msgs/JointState")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<JointState>)))
  "Returns md5sum for a message object of type '<JointState>"
  "3066dcd76a6cfaef579bd0f34173e9fd")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'JointState)))
  "Returns md5sum for a message object of type 'JointState"
  "3066dcd76a6cfaef579bd0f34173e9fd")
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<JointState>)))
  "Returns full string definition for message of type '<JointState>"
  (cl:format cl:nil "# This is a message that holds data to describe the state of a set of torque controlled joints. ~%#~%# The state of each joint (revolute or prismatic) is defined by:~%#  * the position of the joint (rad or m),~%#  * the velocity of the joint (rad/s or m/s) and ~%#  * the effort that is applied in the joint (Nm or N).~%#~%# Each joint is uniquely identified by its name~%# The header specifies the time at which the joint states were recorded. All the joint states~%# in one message have to be recorded at the same time.~%#~%# This message consists of a multiple arrays, one for each part of the joint state. ~%# The goal is to make each of the fields optional. When e.g. your joints have no~%# effort associated with them, you can leave the effort array empty. ~%#~%# All arrays in this message should have the same size, or be empty.~%# This is the only way to uniquely associate the joint name with the correct~%# states.~%~%~%Header header~%~%string[] name~%float64[] position~%float64[] velocity~%float64[] effort~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'JointState)))
  "Returns full string definition for message of type 'JointState"
  (cl:format cl:nil "# This is a message that holds data to describe the state of a set of torque controlled joints. ~%#~%# The state of each joint (revolute or prismatic) is defined by:~%#  * the position of the joint (rad or m),~%#  * the velocity of the joint (rad/s or m/s) and ~%#  * the effort that is applied in the joint (Nm or N).~%#~%# Each joint is uniquely identified by its name~%# The header specifies the time at which the joint states were recorded. All the joint states~%# in one message have to be recorded at the same time.~%#~%# This message consists of a multiple arrays, one for each part of the joint state. ~%# The goal is to make each of the fields optional. When e.g. your joints have no~%# effort associated with them, you can leave the effort array empty. ~%#~%# All arrays in this message should have the same size, or be empty.~%# This is the only way to uniquely associate the joint name with the correct~%# states.~%~%~%Header header~%~%string[] name~%float64[] position~%float64[] velocity~%float64[] effort~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <JointState>))
  (cl:+ 0
     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'name) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4 (cl:length ele))))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'position) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'velocity) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'effort) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 8)))
))
(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <JointState>))
  "Converts a ROS message object to a list"
  (cl:list 'JointState
    (cl:cons ':header (header msg))
    (cl:cons ':name (name msg))
    (cl:cons ':position (position msg))
    (cl:cons ':velocity (velocity msg))
    (cl:cons ':effort (effort msg))
))

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