; Auto-generated. Do not edit!


(cl:in-package sensor_msgs-msg)


;//! \htmlinclude MultiDOFJointState.msg.html

(cl:defclass <MultiDOFJointState> (roslisp-msg-protocol:ros-message)
  ((header
    :reader header
    :initarg :header
    :type std_msgs-msg:Header
    :initform (cl:make-instance 'std_msgs-msg:Header))
   (joint_names
    :reader joint_names
    :initarg :joint_names
    :type (cl:vector cl:string)
   :initform (cl:make-array 0 :element-type 'cl:string :initial-element ""))
   (transforms
    :reader transforms
    :initarg :transforms
    :type (cl:vector geometry_msgs-msg:Transform)
   :initform (cl:make-array 0 :element-type 'geometry_msgs-msg:Transform :initial-element (cl:make-instance 'geometry_msgs-msg:Transform)))
   (twist
    :reader twist
    :initarg :twist
    :type (cl:vector geometry_msgs-msg:Twist)
   :initform (cl:make-array 0 :element-type 'geometry_msgs-msg:Twist :initial-element (cl:make-instance 'geometry_msgs-msg:Twist)))
   (wrench
    :reader wrench
    :initarg :wrench
    :type (cl:vector geometry_msgs-msg:Wrench)
   :initform (cl:make-array 0 :element-type 'geometry_msgs-msg:Wrench :initial-element (cl:make-instance 'geometry_msgs-msg:Wrench))))
)

(cl:defclass MultiDOFJointState (<MultiDOFJointState>)
  ())

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

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

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

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

(cl:ensure-generic-function 'wrench-val :lambda-list '(m))
(cl:defmethod wrench-val ((m <MultiDOFJointState>))
  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader sensor_msgs-msg:wrench-val is deprecated.  Use sensor_msgs-msg:wrench instead.")
  (wrench m))
(cl:defmethod roslisp-msg-protocol:serialize ((msg <MultiDOFJointState>) ostream)
  "Serializes a message object of type '<MultiDOFJointState>"
  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'joint_names))))
    (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 'joint_names))
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'transforms))))
    (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) (roslisp-msg-protocol:serialize ele ostream))
   (cl:slot-value msg 'transforms))
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'twist))))
    (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) (roslisp-msg-protocol:serialize ele ostream))
   (cl:slot-value msg 'twist))
  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'wrench))))
    (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) (roslisp-msg-protocol:serialize ele ostream))
   (cl:slot-value msg 'wrench))
)
(cl:defmethod roslisp-msg-protocol:deserialize ((msg <MultiDOFJointState>) istream)
  "Deserializes a message object of type '<MultiDOFJointState>"
  (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 'joint_names) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'joint_names)))
    (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 'transforms) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'transforms)))
    (cl:dotimes (i __ros_arr_len)
    (cl:setf (cl:aref vals i) (cl:make-instance 'geometry_msgs-msg:Transform))
  (roslisp-msg-protocol:deserialize (cl:aref vals i) 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 'twist) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'twist)))
    (cl:dotimes (i __ros_arr_len)
    (cl:setf (cl:aref vals i) (cl:make-instance 'geometry_msgs-msg:Twist))
  (roslisp-msg-protocol:deserialize (cl:aref vals i) 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 'wrench) (cl:make-array __ros_arr_len))
  (cl:let ((vals (cl:slot-value msg 'wrench)))
    (cl:dotimes (i __ros_arr_len)
    (cl:setf (cl:aref vals i) (cl:make-instance 'geometry_msgs-msg:Wrench))
  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
  msg
)
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<MultiDOFJointState>)))
  "Returns string type for a message object of type '<MultiDOFJointState>"
  "sensor_msgs/MultiDOFJointState")
(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDOFJointState)))
  "Returns string type for a message object of type 'MultiDOFJointState"
  "sensor_msgs/MultiDOFJointState")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<MultiDOFJointState>)))
  "Returns md5sum for a message object of type '<MultiDOFJointState>"
  "690f272f0640d2631c305eeb8301e59d")
(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDOFJointState)))
  "Returns md5sum for a message object of type 'MultiDOFJointState"
  "690f272f0640d2631c305eeb8301e59d")
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<MultiDOFJointState>)))
  "Returns full string definition for message of type '<MultiDOFJointState>"
  (cl:format cl:nil "# Representation of state for joints with multiple degrees of freedom, ~%# following the structure of JointState.~%#~%# It is assumed that a joint in a system corresponds to a transform that gets applied ~%# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)~%# and those 3DOF can be expressed as a transformation matrix, and that transformation~%# matrix can be converted back to (x, y, yaw)~%#~%# 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~%# wrench associated with them, you can leave the wrench 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[] joint_names~%geometry_msgs/Transform[] transforms~%geometry_msgs/Twist[] twist~%geometry_msgs/Wrench[] wrench~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: geometry_msgs/Twist~%# This expresses velocity in free space broken into its linear and angular parts.~%Vector3  linear~%Vector3  angular~%~%================================================================================~%MSG: geometry_msgs/Wrench~%# This represents force in free space, separated into~%# its linear and angular parts.~%Vector3  force~%Vector3  torque~%~%~%"))
(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDOFJointState)))
  "Returns full string definition for message of type 'MultiDOFJointState"
  (cl:format cl:nil "# Representation of state for joints with multiple degrees of freedom, ~%# following the structure of JointState.~%#~%# It is assumed that a joint in a system corresponds to a transform that gets applied ~%# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)~%# and those 3DOF can be expressed as a transformation matrix, and that transformation~%# matrix can be converted back to (x, y, yaw)~%#~%# 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~%# wrench associated with them, you can leave the wrench 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[] joint_names~%geometry_msgs/Transform[] transforms~%geometry_msgs/Twist[] twist~%geometry_msgs/Wrench[] wrench~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: geometry_msgs/Twist~%# This expresses velocity in free space broken into its linear and angular parts.~%Vector3  linear~%Vector3  angular~%~%================================================================================~%MSG: geometry_msgs/Wrench~%# This represents force in free space, separated into~%# its linear and angular parts.~%Vector3  force~%Vector3  torque~%~%~%"))
(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <MultiDOFJointState>))
  (cl:+ 0
     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'joint_names) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4 (cl:length ele))))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'transforms) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'twist) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
     4 (cl:reduce #'cl:+ (cl:slot-value msg 'wrench) :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 <MultiDOFJointState>))
  "Converts a ROS message object to a list"
  (cl:list 'MultiDOFJointState
    (cl:cons ':header (header msg))
    (cl:cons ':joint_names (joint_names msg))
    (cl:cons ':transforms (transforms msg))
    (cl:cons ':twist (twist msg))
    (cl:cons ':wrench (wrench msg))
))
