whole_body_state_acceleration_rule.bmr

class update_whole_body_state_msgs_JointState_3e041381f8ea994b52dc33badca37896(MessageUpdateRule):
	old_type = "whole_body_state_msgs/JointState"
	old_full_text = """
# This message describes the state of an actuated joints.
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the joint name
#  * 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


# Name of the joint
string name

# States of the joint
float64 position
float64 velocity
float64 effort
"""

	new_type = "whole_body_state_msgs/JointState"
	new_full_text = """
# This message describes the state of an actuated joints.
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the joint name
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s),
#  * the acceleration of the joint (rad/s^2 or m/s^2), and
#  * the effort that is applied in the joint (Nm or N).
#
# Each joint is uniquely identified by its name


# Name of the joint
string name

# States of the joint
float64 position
float64 velocity
float64 acceleration
float64 effort
"""

	order = 0
	migrated_types = []

	valid = False

	def update(self, old_msg, new_msg):
		new_msg.name = old_msg.name
		new_msg.position = old_msg.position
		new_msg.velocity = old_msg.velocity
		#No matching field name in old message
		new_msg.acceleration = 0.
		new_msg.effort = old_msg.effort