// generated from rosidl_generator_cpp/resource/idl__struct.hpp.em
// with input from interface_protocol:msg/JointMotionPlanRequest.idl
// generated code does not contain a copyright notice

#ifndef INTERFACE_PROTOCOL__MSG__DETAIL__JOINT_MOTION_PLAN_REQUEST__STRUCT_HPP_
#define INTERFACE_PROTOCOL__MSG__DETAIL__JOINT_MOTION_PLAN_REQUEST__STRUCT_HPP_

#include <algorithm>
#include <array>
#include <memory>
#include <string>
#include <vector>

#include "rosidl_runtime_cpp/bounded_vector.hpp"
#include "rosidl_runtime_cpp/message_initialization.hpp"


#ifndef _WIN32
# define DEPRECATED__interface_protocol__msg__JointMotionPlanRequest __attribute__((deprecated))
#else
# define DEPRECATED__interface_protocol__msg__JointMotionPlanRequest __declspec(deprecated)
#endif

namespace interface_protocol
{

namespace msg
{

// message struct
template<class ContainerAllocator>
struct JointMotionPlanRequest_
{
  using Type = JointMotionPlanRequest_<ContainerAllocator>;

  explicit JointMotionPlanRequest_(rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
  {
    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
    {
      this->request_id = 0l;
      this->request_type = 0;
      this->use_gravity_compensation = false;
      this->execution_time = 0.0;
    }
  }

  explicit JointMotionPlanRequest_(const ContainerAllocator & _alloc, rosidl_runtime_cpp::MessageInitialization _init = rosidl_runtime_cpp::MessageInitialization::ALL)
  {
    (void)_alloc;
    if (rosidl_runtime_cpp::MessageInitialization::ALL == _init ||
      rosidl_runtime_cpp::MessageInitialization::ZERO == _init)
    {
      this->request_id = 0l;
      this->request_type = 0;
      this->use_gravity_compensation = false;
      this->execution_time = 0.0;
    }
  }

  // field types and members
  using _request_id_type =
    int32_t;
  _request_id_type request_id;
  using _request_type_type =
    uint8_t;
  _request_type_type request_type;
  using _use_gravity_compensation_type =
    bool;
  _use_gravity_compensation_type use_gravity_compensation;
  using _joint_indices_type =
    std::vector<int32_t, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<int32_t>>;
  _joint_indices_type joint_indices;
  using _target_positions_type =
    std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>>;
  _target_positions_type target_positions;
  using _target_velocities_type =
    std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>>;
  _target_velocities_type target_velocities;
  using _execution_time_type =
    double;
  _execution_time_type execution_time;
  using _stiffness_type =
    std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>>;
  _stiffness_type stiffness;
  using _damping_type =
    std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>>;
  _damping_type damping;

  // setters for named parameter idiom
  Type & set__request_id(
    const int32_t & _arg)
  {
    this->request_id = _arg;
    return *this;
  }
  Type & set__request_type(
    const uint8_t & _arg)
  {
    this->request_type = _arg;
    return *this;
  }
  Type & set__use_gravity_compensation(
    const bool & _arg)
  {
    this->use_gravity_compensation = _arg;
    return *this;
  }
  Type & set__joint_indices(
    const std::vector<int32_t, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<int32_t>> & _arg)
  {
    this->joint_indices = _arg;
    return *this;
  }
  Type & set__target_positions(
    const std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> & _arg)
  {
    this->target_positions = _arg;
    return *this;
  }
  Type & set__target_velocities(
    const std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> & _arg)
  {
    this->target_velocities = _arg;
    return *this;
  }
  Type & set__execution_time(
    const double & _arg)
  {
    this->execution_time = _arg;
    return *this;
  }
  Type & set__stiffness(
    const std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> & _arg)
  {
    this->stiffness = _arg;
    return *this;
  }
  Type & set__damping(
    const std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> & _arg)
  {
    this->damping = _arg;
    return *this;
  }

  // constant declarations
  static constexpr uint8_t REQUEST_PLAN_EXECUTE =
    0u;
  static constexpr uint8_t REQUEST_CANCEL =
    1u;
  static constexpr uint8_t REQUEST_RESET =
    2u;

  // pointer types
  using RawPtr =
    interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator> *;
  using ConstRawPtr =
    const interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator> *;
  using SharedPtr =
    std::shared_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator>>;
  using ConstSharedPtr =
    std::shared_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator> const>;

  template<typename Deleter = std::default_delete<
      interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator>>>
  using UniquePtrWithDeleter =
    std::unique_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator>, Deleter>;

  using UniquePtr = UniquePtrWithDeleter<>;

  template<typename Deleter = std::default_delete<
      interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator>>>
  using ConstUniquePtrWithDeleter =
    std::unique_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator> const, Deleter>;
  using ConstUniquePtr = ConstUniquePtrWithDeleter<>;

  using WeakPtr =
    std::weak_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator>>;
  using ConstWeakPtr =
    std::weak_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator> const>;

  // pointer types similar to ROS 1, use SharedPtr / ConstSharedPtr instead
  // NOTE: Can't use 'using' here because GNU C++ can't parse attributes properly
  typedef DEPRECATED__interface_protocol__msg__JointMotionPlanRequest
    std::shared_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator>>
    Ptr;
  typedef DEPRECATED__interface_protocol__msg__JointMotionPlanRequest
    std::shared_ptr<interface_protocol::msg::JointMotionPlanRequest_<ContainerAllocator> const>
    ConstPtr;

  // comparison operators
  bool operator==(const JointMotionPlanRequest_ & other) const
  {
    if (this->request_id != other.request_id) {
      return false;
    }
    if (this->request_type != other.request_type) {
      return false;
    }
    if (this->use_gravity_compensation != other.use_gravity_compensation) {
      return false;
    }
    if (this->joint_indices != other.joint_indices) {
      return false;
    }
    if (this->target_positions != other.target_positions) {
      return false;
    }
    if (this->target_velocities != other.target_velocities) {
      return false;
    }
    if (this->execution_time != other.execution_time) {
      return false;
    }
    if (this->stiffness != other.stiffness) {
      return false;
    }
    if (this->damping != other.damping) {
      return false;
    }
    return true;
  }
  bool operator!=(const JointMotionPlanRequest_ & other) const
  {
    return !this->operator==(other);
  }
};  // struct JointMotionPlanRequest_

// alias to use template instance with default allocator
using JointMotionPlanRequest =
  interface_protocol::msg::JointMotionPlanRequest_<std::allocator<void>>;

// constant definitions
#if __cplusplus < 201703L
// static constexpr member variable definitions are only needed in C++14 and below, deprecated in C++17
template<typename ContainerAllocator>
constexpr uint8_t JointMotionPlanRequest_<ContainerAllocator>::REQUEST_PLAN_EXECUTE;
#endif  // __cplusplus < 201703L
#if __cplusplus < 201703L
// static constexpr member variable definitions are only needed in C++14 and below, deprecated in C++17
template<typename ContainerAllocator>
constexpr uint8_t JointMotionPlanRequest_<ContainerAllocator>::REQUEST_CANCEL;
#endif  // __cplusplus < 201703L
#if __cplusplus < 201703L
// static constexpr member variable definitions are only needed in C++14 and below, deprecated in C++17
template<typename ContainerAllocator>
constexpr uint8_t JointMotionPlanRequest_<ContainerAllocator>::REQUEST_RESET;
#endif  // __cplusplus < 201703L

}  // namespace msg

}  // namespace interface_protocol

#endif  // INTERFACE_PROTOCOL__MSG__DETAIL__JOINT_MOTION_PLAN_REQUEST__STRUCT_HPP_
