text: // generated from rosidl_generator_c/resource/idl__struct.h.em
  // with input from halodi_msgs:msg/TaskSpaceCommand.idl
  // generated code does not contain a copyright notice
  
  #ifndef HALODI_MSGS__MSG__TASK_SPACE_COMMAND__STRUCT_H_
  #define HALODI_MSGS__MSG__TASK_SPACE_COMMAND__STRUCT_H_
  
  #ifdef __cplusplus
  extern "C"
  {
  #endif
  
  #include <stdbool.h>
  #include <stddef.h>
  #include <stdint.h>
  
  
  // Constants defined in the message
  
  // Include directives for member types
  // Member 'body_frame'
  // Member 'expressed_in_frame'
  #include "halodi_msgs/msg/reference_frame_name__struct.h"
  // Member 'pose'
  #include "geometry_msgs/msg/pose__struct.h"
  // Member 'angular_velocity'
  // Member 'linear_velocity'
  // Member 'angular_acceleration'
  // Member 'linear_acceleration'
  #include "geometry_msgs/msg/vector3__struct.h"
  // Member 'passivity_input'
  #include "halodi_msgs/msg/passivity_data__struct.h"
  // Member 'orientation_feedback_parameters'
  // Member 'position_feedback_parameters'
  #include "halodi_msgs/msg/feedback_parameters3_d__struct.h"
  // Member 'nullspace_command'
  #include "halodi_msgs/msg/joint_null_space_configuration__struct.h"
  
  // constants for array fields with an upper bound
  // passivity_input
  enum
  {
    halodi_msgs__msg__TaskSpaceCommand__passivity_input__MAX_SIZE = 1
  };
  // orientation_feedback_parameters
  enum
  {
    halodi_msgs__msg__TaskSpaceCommand__orientation_feedback_parameters__MAX_SIZE = 1
  };
  // position_feedback_parameters
  enum
  {
    halodi_msgs__msg__TaskSpaceCommand__position_feedback_parameters__MAX_SIZE = 1
  };
  // nullspace_command
  enum
  {
    halodi_msgs__msg__TaskSpaceCommand__nullspace_command__MAX_SIZE = 7
  };
  
  // Struct defined in msg/TaskSpaceCommand in the package halodi_msgs.
  typedef struct halodi_msgs__msg__TaskSpaceCommand
  {
    halodi_msgs__msg__ReferenceFrameName body_frame;
    halodi_msgs__msg__ReferenceFrameName expressed_in_frame;
    bool express_in_z_up;
    geometry_msgs__msg__Pose pose;
    geometry_msgs__msg__Vector3 angular_velocity;
    geometry_msgs__msg__Vector3 linear_velocity;
    geometry_msgs__msg__Vector3 angular_acceleration;
    geometry_msgs__msg__Vector3 linear_acceleration;
    halodi_msgs__msg__PassivityData__Sequence passivity_input;
    halodi_msgs__msg__FeedbackParameters3D__Sequence orientation_feedback_parameters;
    halodi_msgs__msg__FeedbackParameters3D__Sequence position_feedback_parameters;
    halodi_msgs__msg__JointNullSpaceConfiguration__Sequence nullspace_command;
  } halodi_msgs__msg__TaskSpaceCommand;
  
  // Struct for a sequence of halodi_msgs__msg__TaskSpaceCommand.
  typedef struct halodi_msgs__msg__TaskSpaceCommand__Sequence
  {
    halodi_msgs__msg__TaskSpaceCommand * data;
    /// The number of valid items in data
    size_t size;
    /// The number of allocated items in data
    size_t capacity;
  } halodi_msgs__msg__TaskSpaceCommand__Sequence;
  
  #ifdef __cplusplus
  }
  #endif
  
  #endif  // HALODI_MSGS__MSG__TASK_SPACE_COMMAND__STRUCT_H_
  