content: {-# LANGUAGE OverloadedStrings #-}
  {-# LANGUAGE DeriveDataTypeable #-}
  {-# LANGUAGE DeriveGeneric #-}
  {-# LANGUAGE TemplateHaskell #-}
  module Ros.Sensor_msgs.JointState where
  import qualified Prelude as P
  import Prelude ((.), (+), (*))
  import qualified Data.Typeable as T
  import Control.Applicative
  import Ros.Internal.RosBinary
  import Ros.Internal.Msg.MsgInfo
  import qualified GHC.Generics as G
  import qualified Data.Default.Generics as D
  import Ros.Internal.Msg.HeaderSupport
  import qualified Data.Vector.Storable as V
  import qualified Ros.Std_msgs.Header as Header
  import Lens.Family.TH (makeLenses)
  import Lens.Family (view, set)
  
  data JointState = JointState { _header :: Header.Header
                               , _name :: [P.String]
                               , _position :: V.Vector P.Double
                               , _velocity :: V.Vector P.Double
                               , _effort :: V.Vector P.Double
                               } deriving (P.Show, P.Eq, P.Ord, T.Typeable, G.Generic)
  
  $(makeLenses ''JointState)
  
  instance RosBinary JointState where
    put obj' = put (_header obj') *> putList (_name obj') *> put (_position obj') *> put (_velocity obj') *> put (_effort obj')
    get = JointState <$> get <*> getList <*> get <*> get <*> get
    putMsg = putStampedMsg
  
  instance HasHeader JointState where
    getSequence = view (header . Header.seq)
    getFrame    = view (header . Header.frame_id)
    getStamp    = view (header . Header.stamp)
    setSequence = set  (header . Header.seq)
  
  instance MsgInfo JointState where
    sourceMD5 _ = "3066dcd76a6cfaef579bd0f34173e9fd"
    msgTypeName _ = "sensor_msgs/JointState"
  
  instance D.Default JointState
  
  