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ILocalization2DMsgs.cpp
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6// Autogenerated by Thrift Compiler (0.14.1-yarped)
7//
8// This is an automatically generated file.
9// It could get re-generated if the ALLOW_IDL_GENERATION flag is on.
10
11#include <ILocalization2DMsgs.h>
12
14
15#include <algorithm>
16
17// start_localization_service_RPC helper class declaration
20{
21public:
23 bool write(yarp::os::ConnectionWriter& connection) const override;
24 bool read(yarp::os::ConnectionReader& connection) override;
25
26 class Command :
28 {
29 public:
30 Command() = default;
31 ~Command() override = default;
32
33 bool write(yarp::os::ConnectionWriter& connection) const override;
34 bool read(yarp::os::ConnectionReader& connection) override;
35
36 bool write(const yarp::os::idl::WireWriter& writer) const override;
37 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
38 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
39
40 bool read(yarp::os::idl::WireReader& reader) override;
43 };
44
45 class Reply :
47 {
48 public:
49 Reply() = default;
50 ~Reply() override = default;
51
52 bool write(yarp::os::ConnectionWriter& connection) const override;
53 bool read(yarp::os::ConnectionReader& connection) override;
54
55 bool write(const yarp::os::idl::WireWriter& writer) const override;
56 bool read(yarp::os::idl::WireReader& reader) override;
57
58 bool return_helper{false};
59 };
60
61 using funcptr_t = bool (*)();
62 void call(ILocalization2DMsgs* ptr);
63
66
67 static constexpr const char* s_tag{"start_localization_service_RPC"};
68 static constexpr size_t s_tag_len{4};
69 static constexpr size_t s_cmd_len{4};
70 static constexpr size_t s_reply_len{1};
71 static constexpr const char* s_prototype{"bool ILocalization2DMsgs::start_localization_service_RPC()"};
72 static constexpr const char* s_help{""};
73};
74
75// stop_localization_service_RPC helper class declaration
78{
79public:
81 bool write(yarp::os::ConnectionWriter& connection) const override;
82 bool read(yarp::os::ConnectionReader& connection) override;
83
84 class Command :
86 {
87 public:
88 Command() = default;
89 ~Command() override = default;
90
91 bool write(yarp::os::ConnectionWriter& connection) const override;
92 bool read(yarp::os::ConnectionReader& connection) override;
93
94 bool write(const yarp::os::idl::WireWriter& writer) const override;
95 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
96 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
97
98 bool read(yarp::os::idl::WireReader& reader) override;
101 };
102
103 class Reply :
105 {
106 public:
107 Reply() = default;
108 ~Reply() override = default;
109
110 bool write(yarp::os::ConnectionWriter& connection) const override;
111 bool read(yarp::os::ConnectionReader& connection) override;
112
113 bool write(const yarp::os::idl::WireWriter& writer) const override;
114 bool read(yarp::os::idl::WireReader& reader) override;
115
116 bool return_helper{false};
117 };
118
119 using funcptr_t = bool (*)();
120 void call(ILocalization2DMsgs* ptr);
121
124
125 static constexpr const char* s_tag{"stop_localization_service_RPC"};
126 static constexpr size_t s_tag_len{4};
127 static constexpr size_t s_cmd_len{4};
128 static constexpr size_t s_reply_len{1};
129 static constexpr const char* s_prototype{"bool ILocalization2DMsgs::stop_localization_service_RPC()"};
130 static constexpr const char* s_help{""};
131};
132
133// get_localization_status_RPC helper class declaration
135 public yarp::os::Portable
136{
137public:
139 bool write(yarp::os::ConnectionWriter& connection) const override;
140 bool read(yarp::os::ConnectionReader& connection) override;
141
142 class Command :
144 {
145 public:
146 Command() = default;
147 ~Command() override = default;
148
149 bool write(yarp::os::ConnectionWriter& connection) const override;
150 bool read(yarp::os::ConnectionReader& connection) override;
151
152 bool write(const yarp::os::idl::WireWriter& writer) const override;
153 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
154 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
155
156 bool read(yarp::os::idl::WireReader& reader) override;
159 };
160
161 class Reply :
163 {
164 public:
165 Reply() = default;
166 ~Reply() override = default;
167
168 bool write(yarp::os::ConnectionWriter& connection) const override;
169 bool read(yarp::os::ConnectionReader& connection) override;
170
171 bool write(const yarp::os::idl::WireWriter& writer) const override;
172 bool read(yarp::os::idl::WireReader& reader) override;
173
175 };
176
178 void call(ILocalization2DMsgs* ptr);
179
182
183 static constexpr const char* s_tag{"get_localization_status_RPC"};
184 static constexpr size_t s_tag_len{4};
185 static constexpr size_t s_cmd_len{4};
186 static constexpr size_t s_reply_len{2};
187 static constexpr const char* s_prototype{"return_get_localization_status ILocalization2DMsgs::get_localization_status_RPC()"};
188 static constexpr const char* s_help{""};
189};
190
191// get_estimated_poses_RPC helper class declaration
193 public yarp::os::Portable
194{
195public:
197 bool write(yarp::os::ConnectionWriter& connection) const override;
198 bool read(yarp::os::ConnectionReader& connection) override;
199
200 class Command :
202 {
203 public:
204 Command() = default;
205 ~Command() override = default;
206
207 bool write(yarp::os::ConnectionWriter& connection) const override;
208 bool read(yarp::os::ConnectionReader& connection) override;
209
210 bool write(const yarp::os::idl::WireWriter& writer) const override;
211 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
212 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
213
214 bool read(yarp::os::idl::WireReader& reader) override;
217 };
218
219 class Reply :
221 {
222 public:
223 Reply() = default;
224 ~Reply() override = default;
225
226 bool write(yarp::os::ConnectionWriter& connection) const override;
227 bool read(yarp::os::ConnectionReader& connection) override;
228
229 bool write(const yarp::os::idl::WireWriter& writer) const override;
230 bool read(yarp::os::idl::WireReader& reader) override;
231
233 };
234
236 void call(ILocalization2DMsgs* ptr);
237
240
241 static constexpr const char* s_tag{"get_estimated_poses_RPC"};
242 static constexpr size_t s_tag_len{4};
243 static constexpr size_t s_cmd_len{4};
244 static constexpr size_t s_reply_len{2};
245 static constexpr const char* s_prototype{"return_get_estimated_poses ILocalization2DMsgs::get_estimated_poses_RPC()"};
246 static constexpr const char* s_help{""};
247};
248
249// get_current_position1_RPC helper class declaration
251 public yarp::os::Portable
252{
253public:
255 bool write(yarp::os::ConnectionWriter& connection) const override;
256 bool read(yarp::os::ConnectionReader& connection) override;
257
258 class Command :
260 {
261 public:
262 Command() = default;
263 ~Command() override = default;
264
265 bool write(yarp::os::ConnectionWriter& connection) const override;
266 bool read(yarp::os::ConnectionReader& connection) override;
267
268 bool write(const yarp::os::idl::WireWriter& writer) const override;
269 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
270 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
271
272 bool read(yarp::os::idl::WireReader& reader) override;
275 };
276
277 class Reply :
279 {
280 public:
281 Reply() = default;
282 ~Reply() override = default;
283
284 bool write(yarp::os::ConnectionWriter& connection) const override;
285 bool read(yarp::os::ConnectionReader& connection) override;
286
287 bool write(const yarp::os::idl::WireWriter& writer) const override;
288 bool read(yarp::os::idl::WireReader& reader) override;
289
291 };
292
294 void call(ILocalization2DMsgs* ptr);
295
298
299 static constexpr const char* s_tag{"get_current_position1_RPC"};
300 static constexpr size_t s_tag_len{4};
301 static constexpr size_t s_cmd_len{4};
302 static constexpr size_t s_reply_len{2};
303 static constexpr const char* s_prototype{"return_get_current_position1 ILocalization2DMsgs::get_current_position1_RPC()"};
304 static constexpr const char* s_help{""};
305};
306
307// get_current_position2_RPC helper class declaration
309 public yarp::os::Portable
310{
311public:
313 bool write(yarp::os::ConnectionWriter& connection) const override;
314 bool read(yarp::os::ConnectionReader& connection) override;
315
316 class Command :
318 {
319 public:
320 Command() = default;
321 ~Command() override = default;
322
323 bool write(yarp::os::ConnectionWriter& connection) const override;
324 bool read(yarp::os::ConnectionReader& connection) override;
325
326 bool write(const yarp::os::idl::WireWriter& writer) const override;
327 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
328 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
329
330 bool read(yarp::os::idl::WireReader& reader) override;
333 };
334
335 class Reply :
337 {
338 public:
339 Reply() = default;
340 ~Reply() override = default;
341
342 bool write(yarp::os::ConnectionWriter& connection) const override;
343 bool read(yarp::os::ConnectionReader& connection) override;
344
345 bool write(const yarp::os::idl::WireWriter& writer) const override;
346 bool read(yarp::os::idl::WireReader& reader) override;
347
349 };
350
352 void call(ILocalization2DMsgs* ptr);
353
356
357 static constexpr const char* s_tag{"get_current_position2_RPC"};
358 static constexpr size_t s_tag_len{4};
359 static constexpr size_t s_cmd_len{4};
360 static constexpr size_t s_reply_len{3};
361 static constexpr const char* s_prototype{"return_get_current_position2 ILocalization2DMsgs::get_current_position2_RPC()"};
362 static constexpr const char* s_help{""};
363};
364
365// get_estimated_odometry_RPC helper class declaration
367 public yarp::os::Portable
368{
369public:
371 bool write(yarp::os::ConnectionWriter& connection) const override;
372 bool read(yarp::os::ConnectionReader& connection) override;
373
374 class Command :
376 {
377 public:
378 Command() = default;
379 ~Command() override = default;
380
381 bool write(yarp::os::ConnectionWriter& connection) const override;
382 bool read(yarp::os::ConnectionReader& connection) override;
383
384 bool write(const yarp::os::idl::WireWriter& writer) const override;
385 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
386 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
387
388 bool read(yarp::os::idl::WireReader& reader) override;
391 };
392
393 class Reply :
395 {
396 public:
397 Reply() = default;
398 ~Reply() override = default;
399
400 bool write(yarp::os::ConnectionWriter& connection) const override;
401 bool read(yarp::os::ConnectionReader& connection) override;
402
403 bool write(const yarp::os::idl::WireWriter& writer) const override;
404 bool read(yarp::os::idl::WireReader& reader) override;
405
407 };
408
410 void call(ILocalization2DMsgs* ptr);
411
414
415 static constexpr const char* s_tag{"get_estimated_odometry_RPC"};
416 static constexpr size_t s_tag_len{4};
417 static constexpr size_t s_cmd_len{4};
418 static constexpr size_t s_reply_len{2};
419 static constexpr const char* s_prototype{"return_get_estimated_odometry ILocalization2DMsgs::get_estimated_odometry_RPC()"};
420 static constexpr const char* s_help{""};
421};
422
423// set_initial_pose1_RPC helper class declaration
425 public yarp::os::Portable
426{
427public:
430 bool write(yarp::os::ConnectionWriter& connection) const override;
431 bool read(yarp::os::ConnectionReader& connection) override;
432
433 class Command :
435 {
436 public:
437 Command() = default;
439
440 ~Command() override = default;
441
442 bool write(yarp::os::ConnectionWriter& connection) const override;
443 bool read(yarp::os::ConnectionReader& connection) override;
444
445 bool write(const yarp::os::idl::WireWriter& writer) const override;
446 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
447 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
448
449 bool read(yarp::os::idl::WireReader& reader) override;
452
454 };
455
456 class Reply :
458 {
459 public:
460 Reply() = default;
461 ~Reply() override = default;
462
463 bool write(yarp::os::ConnectionWriter& connection) const override;
464 bool read(yarp::os::ConnectionReader& connection) override;
465
466 bool write(const yarp::os::idl::WireWriter& writer) const override;
467 bool read(yarp::os::idl::WireReader& reader) override;
468
469 bool return_helper{false};
470 };
471
473 void call(ILocalization2DMsgs* ptr);
474
477
478 static constexpr const char* s_tag{"set_initial_pose1_RPC"};
479 static constexpr size_t s_tag_len{4};
480 static constexpr size_t s_cmd_len{5};
481 static constexpr size_t s_reply_len{1};
482 static constexpr const char* s_prototype{"bool ILocalization2DMsgs::set_initial_pose1_RPC(const yarp::dev::Nav2D::Map2DLocation& loc)"};
483 static constexpr const char* s_help{""};
484};
485
486// set_initial_pose2_RPC helper class declaration
488 public yarp::os::Portable
489{
490public:
493 bool write(yarp::os::ConnectionWriter& connection) const override;
494 bool read(yarp::os::ConnectionReader& connection) override;
495
496 class Command :
498 {
499 public:
500 Command() = default;
502
503 ~Command() override = default;
504
505 bool write(yarp::os::ConnectionWriter& connection) const override;
506 bool read(yarp::os::ConnectionReader& connection) override;
507
508 bool write(const yarp::os::idl::WireWriter& writer) const override;
509 bool writeTag(const yarp::os::idl::WireWriter& writer) const;
510 bool writeArgs(const yarp::os::idl::WireWriter& writer) const;
511
512 bool read(yarp::os::idl::WireReader& reader) override;
515
518 };
519
520 class Reply :
522 {
523 public:
524 Reply() = default;
525 ~Reply() override = default;
526
527 bool write(yarp::os::ConnectionWriter& connection) const override;
528 bool read(yarp::os::ConnectionReader& connection) override;
529
530 bool write(const yarp::os::idl::WireWriter& writer) const override;
531 bool read(yarp::os::idl::WireReader& reader) override;
532
533 bool return_helper{false};
534 };
535
537 void call(ILocalization2DMsgs* ptr);
538
541
542 static constexpr const char* s_tag{"set_initial_pose2_RPC"};
543 static constexpr size_t s_tag_len{4};
544 static constexpr size_t s_cmd_len{6};
545 static constexpr size_t s_reply_len{1};
546 static constexpr const char* s_prototype{"bool ILocalization2DMsgs::set_initial_pose2_RPC(const yarp::dev::Nav2D::Map2DLocation& loc, const yarp::sig::Matrix& cov)"};
547 static constexpr const char* s_help{""};
548};
549
550// start_localization_service_RPC helper class implementation
555
560
562{
563 yarp::os::idl::WireWriter writer(connection);
564 if (!writer.writeListHeader(s_cmd_len)) {
565 return false;
566 }
567 return write(writer);
568}
569
571{
572 yarp::os::idl::WireReader reader(connection);
573 if (!reader.readListHeader()) {
574 reader.fail();
575 return false;
576 }
577 return read(reader);
578}
579
581{
582 if (!writeTag(writer)) {
583 return false;
584 }
585 if (!writeArgs(writer)) {
586 return false;
587 }
588 return true;
589}
590
592{
593 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
594 return false;
595 }
596 return true;
597}
598
600{
601 return true;
602}
603
605{
606 if (!readTag(reader)) {
607 return false;
608 }
609 if (!readArgs(reader)) {
610 return false;
611 }
612 return true;
613}
614
616{
617 std::string tag = reader.readTag(s_tag_len);
618 if (reader.isError()) {
619 return false;
620 }
621 if (tag != s_tag) {
622 reader.fail();
623 return false;
624 }
625 return true;
626}
627
629{
630 if (!reader.noMore()) {
631 reader.fail();
632 return false;
633 }
634 return true;
635}
636
642
648
650{
651 if (!writer.isNull()) {
652 if (!writer.writeListHeader(s_reply_len)) {
653 return false;
654 }
655 if (!writer.writeBool(return_helper)) {
656 return false;
657 }
658 }
659 return true;
660}
661
663{
664 if (!reader.readListReturn()) {
665 return false;
666 }
667 if (reader.noMore()) {
668 reader.fail();
669 return false;
670 }
671 if (!reader.readBool(return_helper)) {
672 reader.fail();
673 return false;
674 }
675 return true;
676}
677
682
683// stop_localization_service_RPC helper class implementation
688
693
695{
696 yarp::os::idl::WireWriter writer(connection);
697 if (!writer.writeListHeader(s_cmd_len)) {
698 return false;
699 }
700 return write(writer);
701}
702
704{
705 yarp::os::idl::WireReader reader(connection);
706 if (!reader.readListHeader()) {
707 reader.fail();
708 return false;
709 }
710 return read(reader);
711}
712
714{
715 if (!writeTag(writer)) {
716 return false;
717 }
718 if (!writeArgs(writer)) {
719 return false;
720 }
721 return true;
722}
723
725{
726 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
727 return false;
728 }
729 return true;
730}
731
733{
734 return true;
735}
736
738{
739 if (!readTag(reader)) {
740 return false;
741 }
742 if (!readArgs(reader)) {
743 return false;
744 }
745 return true;
746}
747
749{
750 std::string tag = reader.readTag(s_tag_len);
751 if (reader.isError()) {
752 return false;
753 }
754 if (tag != s_tag) {
755 reader.fail();
756 return false;
757 }
758 return true;
759}
760
762{
763 if (!reader.noMore()) {
764 reader.fail();
765 return false;
766 }
767 return true;
768}
769
775
781
783{
784 if (!writer.isNull()) {
785 if (!writer.writeListHeader(s_reply_len)) {
786 return false;
787 }
788 if (!writer.writeBool(return_helper)) {
789 return false;
790 }
791 }
792 return true;
793}
794
796{
797 if (!reader.readListReturn()) {
798 return false;
799 }
800 if (reader.noMore()) {
801 reader.fail();
802 return false;
803 }
804 if (!reader.readBool(return_helper)) {
805 reader.fail();
806 return false;
807 }
808 return true;
809}
810
815
816// get_localization_status_RPC helper class implementation
821
826
828{
829 yarp::os::idl::WireWriter writer(connection);
830 if (!writer.writeListHeader(s_cmd_len)) {
831 return false;
832 }
833 return write(writer);
834}
835
837{
838 yarp::os::idl::WireReader reader(connection);
839 if (!reader.readListHeader()) {
840 reader.fail();
841 return false;
842 }
843 return read(reader);
844}
845
847{
848 if (!writeTag(writer)) {
849 return false;
850 }
851 if (!writeArgs(writer)) {
852 return false;
853 }
854 return true;
855}
856
858{
859 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
860 return false;
861 }
862 return true;
863}
864
866{
867 return true;
868}
869
871{
872 if (!readTag(reader)) {
873 return false;
874 }
875 if (!readArgs(reader)) {
876 return false;
877 }
878 return true;
879}
880
882{
883 std::string tag = reader.readTag(s_tag_len);
884 if (reader.isError()) {
885 return false;
886 }
887 if (tag != s_tag) {
888 reader.fail();
889 return false;
890 }
891 return true;
892}
893
895{
896 if (!reader.noMore()) {
897 reader.fail();
898 return false;
899 }
900 return true;
901}
902
908
914
916{
917 if (!writer.isNull()) {
918 if (!writer.writeListHeader(s_reply_len)) {
919 return false;
920 }
921 if (!writer.write(return_helper)) {
922 return false;
923 }
924 }
925 return true;
926}
927
929{
930 if (!reader.readListReturn()) {
931 return false;
932 }
933 if (reader.noMore()) {
934 reader.fail();
935 return false;
936 }
937 if (!reader.read(return_helper)) {
938 reader.fail();
939 return false;
940 }
941 return true;
942}
943
948
949// get_estimated_poses_RPC helper class implementation
954
959
961{
962 yarp::os::idl::WireWriter writer(connection);
963 if (!writer.writeListHeader(s_cmd_len)) {
964 return false;
965 }
966 return write(writer);
967}
968
970{
971 yarp::os::idl::WireReader reader(connection);
972 if (!reader.readListHeader()) {
973 reader.fail();
974 return false;
975 }
976 return read(reader);
977}
978
980{
981 if (!writeTag(writer)) {
982 return false;
983 }
984 if (!writeArgs(writer)) {
985 return false;
986 }
987 return true;
988}
989
991{
992 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
993 return false;
994 }
995 return true;
996}
997
999{
1000 return true;
1001}
1002
1004{
1005 if (!readTag(reader)) {
1006 return false;
1007 }
1008 if (!readArgs(reader)) {
1009 return false;
1010 }
1011 return true;
1012}
1013
1015{
1016 std::string tag = reader.readTag(s_tag_len);
1017 if (reader.isError()) {
1018 return false;
1019 }
1020 if (tag != s_tag) {
1021 reader.fail();
1022 return false;
1023 }
1024 return true;
1025}
1026
1028{
1029 if (!reader.noMore()) {
1030 reader.fail();
1031 return false;
1032 }
1033 return true;
1034}
1035
1037{
1038 yarp::os::idl::WireWriter writer(connection);
1039 return write(writer);
1040}
1041
1047
1049{
1050 if (!writer.isNull()) {
1051 if (!writer.writeListHeader(s_reply_len)) {
1052 return false;
1053 }
1054 if (!writer.write(return_helper)) {
1055 return false;
1056 }
1057 }
1058 return true;
1059}
1060
1062{
1063 if (!reader.readListReturn()) {
1064 return false;
1065 }
1066 if (reader.noMore()) {
1067 reader.fail();
1068 return false;
1069 }
1070 if (!reader.read(return_helper)) {
1071 reader.fail();
1072 return false;
1073 }
1074 return true;
1075}
1076
1081
1082// get_current_position1_RPC helper class implementation
1087
1092
1094{
1095 yarp::os::idl::WireWriter writer(connection);
1096 if (!writer.writeListHeader(s_cmd_len)) {
1097 return false;
1098 }
1099 return write(writer);
1100}
1101
1103{
1104 yarp::os::idl::WireReader reader(connection);
1105 if (!reader.readListHeader()) {
1106 reader.fail();
1107 return false;
1108 }
1109 return read(reader);
1110}
1111
1113{
1114 if (!writeTag(writer)) {
1115 return false;
1116 }
1117 if (!writeArgs(writer)) {
1118 return false;
1119 }
1120 return true;
1121}
1122
1124{
1125 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
1126 return false;
1127 }
1128 return true;
1129}
1130
1132{
1133 return true;
1134}
1135
1137{
1138 if (!readTag(reader)) {
1139 return false;
1140 }
1141 if (!readArgs(reader)) {
1142 return false;
1143 }
1144 return true;
1145}
1146
1148{
1149 std::string tag = reader.readTag(s_tag_len);
1150 if (reader.isError()) {
1151 return false;
1152 }
1153 if (tag != s_tag) {
1154 reader.fail();
1155 return false;
1156 }
1157 return true;
1158}
1159
1161{
1162 if (!reader.noMore()) {
1163 reader.fail();
1164 return false;
1165 }
1166 return true;
1167}
1168
1170{
1171 yarp::os::idl::WireWriter writer(connection);
1172 return write(writer);
1173}
1174
1180
1182{
1183 if (!writer.isNull()) {
1184 if (!writer.writeListHeader(s_reply_len)) {
1185 return false;
1186 }
1187 if (!writer.write(return_helper)) {
1188 return false;
1189 }
1190 }
1191 return true;
1192}
1193
1195{
1196 if (!reader.readListReturn()) {
1197 return false;
1198 }
1199 if (reader.noMore()) {
1200 reader.fail();
1201 return false;
1202 }
1203 if (!reader.read(return_helper)) {
1204 reader.fail();
1205 return false;
1206 }
1207 return true;
1208}
1209
1214
1215// get_current_position2_RPC helper class implementation
1220
1225
1227{
1228 yarp::os::idl::WireWriter writer(connection);
1229 if (!writer.writeListHeader(s_cmd_len)) {
1230 return false;
1231 }
1232 return write(writer);
1233}
1234
1236{
1237 yarp::os::idl::WireReader reader(connection);
1238 if (!reader.readListHeader()) {
1239 reader.fail();
1240 return false;
1241 }
1242 return read(reader);
1243}
1244
1246{
1247 if (!writeTag(writer)) {
1248 return false;
1249 }
1250 if (!writeArgs(writer)) {
1251 return false;
1252 }
1253 return true;
1254}
1255
1257{
1258 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
1259 return false;
1260 }
1261 return true;
1262}
1263
1265{
1266 return true;
1267}
1268
1270{
1271 if (!readTag(reader)) {
1272 return false;
1273 }
1274 if (!readArgs(reader)) {
1275 return false;
1276 }
1277 return true;
1278}
1279
1281{
1282 std::string tag = reader.readTag(s_tag_len);
1283 if (reader.isError()) {
1284 return false;
1285 }
1286 if (tag != s_tag) {
1287 reader.fail();
1288 return false;
1289 }
1290 return true;
1291}
1292
1294{
1295 if (!reader.noMore()) {
1296 reader.fail();
1297 return false;
1298 }
1299 return true;
1300}
1301
1303{
1304 yarp::os::idl::WireWriter writer(connection);
1305 return write(writer);
1306}
1307
1313
1315{
1316 if (!writer.isNull()) {
1317 if (!writer.writeListHeader(s_reply_len)) {
1318 return false;
1319 }
1320 if (!writer.write(return_helper)) {
1321 return false;
1322 }
1323 }
1324 return true;
1325}
1326
1328{
1329 if (!reader.readListReturn()) {
1330 return false;
1331 }
1332 if (reader.noMore()) {
1333 reader.fail();
1334 return false;
1335 }
1336 if (!reader.read(return_helper)) {
1337 reader.fail();
1338 return false;
1339 }
1340 return true;
1341}
1342
1347
1348// get_estimated_odometry_RPC helper class implementation
1353
1358
1360{
1361 yarp::os::idl::WireWriter writer(connection);
1362 if (!writer.writeListHeader(s_cmd_len)) {
1363 return false;
1364 }
1365 return write(writer);
1366}
1367
1369{
1370 yarp::os::idl::WireReader reader(connection);
1371 if (!reader.readListHeader()) {
1372 reader.fail();
1373 return false;
1374 }
1375 return read(reader);
1376}
1377
1379{
1380 if (!writeTag(writer)) {
1381 return false;
1382 }
1383 if (!writeArgs(writer)) {
1384 return false;
1385 }
1386 return true;
1387}
1388
1390{
1391 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
1392 return false;
1393 }
1394 return true;
1395}
1396
1398{
1399 return true;
1400}
1401
1403{
1404 if (!readTag(reader)) {
1405 return false;
1406 }
1407 if (!readArgs(reader)) {
1408 return false;
1409 }
1410 return true;
1411}
1412
1414{
1415 std::string tag = reader.readTag(s_tag_len);
1416 if (reader.isError()) {
1417 return false;
1418 }
1419 if (tag != s_tag) {
1420 reader.fail();
1421 return false;
1422 }
1423 return true;
1424}
1425
1427{
1428 if (!reader.noMore()) {
1429 reader.fail();
1430 return false;
1431 }
1432 return true;
1433}
1434
1436{
1437 yarp::os::idl::WireWriter writer(connection);
1438 return write(writer);
1439}
1440
1446
1448{
1449 if (!writer.isNull()) {
1450 if (!writer.writeListHeader(s_reply_len)) {
1451 return false;
1452 }
1453 if (!writer.write(return_helper)) {
1454 return false;
1455 }
1456 }
1457 return true;
1458}
1459
1461{
1462 if (!reader.readListReturn()) {
1463 return false;
1464 }
1465 if (reader.noMore()) {
1466 reader.fail();
1467 return false;
1468 }
1469 if (!reader.read(return_helper)) {
1470 reader.fail();
1471 return false;
1472 }
1473 return true;
1474}
1475
1480
1481// set_initial_pose1_RPC helper class implementation
1486
1488{
1489 return cmd.write(connection);
1490}
1491
1496
1501
1503{
1504 yarp::os::idl::WireWriter writer(connection);
1505 if (!writer.writeListHeader(s_cmd_len)) {
1506 return false;
1507 }
1508 return write(writer);
1509}
1510
1512{
1513 yarp::os::idl::WireReader reader(connection);
1514 if (!reader.readListHeader()) {
1515 reader.fail();
1516 return false;
1517 }
1518 return read(reader);
1519}
1520
1522{
1523 if (!writeTag(writer)) {
1524 return false;
1525 }
1526 if (!writeArgs(writer)) {
1527 return false;
1528 }
1529 return true;
1530}
1531
1533{
1534 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
1535 return false;
1536 }
1537 return true;
1538}
1539
1541{
1542 if (!writer.writeNested(loc)) {
1543 return false;
1544 }
1545 return true;
1546}
1547
1549{
1550 if (!readTag(reader)) {
1551 return false;
1552 }
1553 if (!readArgs(reader)) {
1554 return false;
1555 }
1556 return true;
1557}
1558
1560{
1561 std::string tag = reader.readTag(s_tag_len);
1562 if (reader.isError()) {
1563 return false;
1564 }
1565 if (tag != s_tag) {
1566 reader.fail();
1567 return false;
1568 }
1569 return true;
1570}
1571
1573{
1574 if (reader.noMore()) {
1575 reader.fail();
1576 return false;
1577 }
1578 if (!reader.readNested(loc)) {
1579 reader.fail();
1580 return false;
1581 }
1582 if (!reader.noMore()) {
1583 reader.fail();
1584 return false;
1585 }
1586 return true;
1587}
1588
1590{
1591 yarp::os::idl::WireWriter writer(connection);
1592 return write(writer);
1593}
1594
1600
1602{
1603 if (!writer.isNull()) {
1604 if (!writer.writeListHeader(s_reply_len)) {
1605 return false;
1606 }
1607 if (!writer.writeBool(return_helper)) {
1608 return false;
1609 }
1610 }
1611 return true;
1612}
1613
1615{
1616 if (!reader.readListReturn()) {
1617 return false;
1618 }
1619 if (reader.noMore()) {
1620 reader.fail();
1621 return false;
1622 }
1623 if (!reader.readBool(return_helper)) {
1624 reader.fail();
1625 return false;
1626 }
1627 return true;
1628}
1629
1634
1635// set_initial_pose2_RPC helper class implementation
1640
1642{
1643 return cmd.write(connection);
1644}
1645
1650
1656
1658{
1659 yarp::os::idl::WireWriter writer(connection);
1660 if (!writer.writeListHeader(s_cmd_len)) {
1661 return false;
1662 }
1663 return write(writer);
1664}
1665
1667{
1668 yarp::os::idl::WireReader reader(connection);
1669 if (!reader.readListHeader()) {
1670 reader.fail();
1671 return false;
1672 }
1673 return read(reader);
1674}
1675
1677{
1678 if (!writeTag(writer)) {
1679 return false;
1680 }
1681 if (!writeArgs(writer)) {
1682 return false;
1683 }
1684 return true;
1685}
1686
1688{
1689 if (!writer.writeTag(s_tag, 1, s_tag_len)) {
1690 return false;
1691 }
1692 return true;
1693}
1694
1696{
1697 if (!writer.writeNested(loc)) {
1698 return false;
1699 }
1700 if (!writer.writeNested(cov)) {
1701 return false;
1702 }
1703 return true;
1704}
1705
1707{
1708 if (!readTag(reader)) {
1709 return false;
1710 }
1711 if (!readArgs(reader)) {
1712 return false;
1713 }
1714 return true;
1715}
1716
1718{
1719 std::string tag = reader.readTag(s_tag_len);
1720 if (reader.isError()) {
1721 return false;
1722 }
1723 if (tag != s_tag) {
1724 reader.fail();
1725 return false;
1726 }
1727 return true;
1728}
1729
1731{
1732 if (reader.noMore()) {
1733 reader.fail();
1734 return false;
1735 }
1736 if (!reader.readNested(loc)) {
1737 reader.fail();
1738 return false;
1739 }
1740 if (reader.noMore()) {
1741 reader.fail();
1742 return false;
1743 }
1744 if (!reader.readNested(cov)) {
1745 reader.fail();
1746 return false;
1747 }
1748 if (!reader.noMore()) {
1749 reader.fail();
1750 return false;
1751 }
1752 return true;
1753}
1754
1756{
1757 yarp::os::idl::WireWriter writer(connection);
1758 return write(writer);
1759}
1760
1766
1768{
1769 if (!writer.isNull()) {
1770 if (!writer.writeListHeader(s_reply_len)) {
1771 return false;
1772 }
1773 if (!writer.writeBool(return_helper)) {
1774 return false;
1775 }
1776 }
1777 return true;
1778}
1779
1781{
1782 if (!reader.readListReturn()) {
1783 return false;
1784 }
1785 if (reader.noMore()) {
1786 reader.fail();
1787 return false;
1788 }
1789 if (!reader.readBool(return_helper)) {
1790 reader.fail();
1791 return false;
1792 }
1793 return true;
1794}
1795
1800
1801// Constructor
1803{
1804 yarp().setOwner(*this);
1805}
1806
1808{
1809 if (!yarp().canWrite()) {
1811 }
1813 bool ok = yarp().write(helper, helper);
1814 return ok ? helper.reply.return_helper : bool{};
1815}
1816
1818{
1819 if (!yarp().canWrite()) {
1821 }
1823 bool ok = yarp().write(helper, helper);
1824 return ok ? helper.reply.return_helper : bool{};
1825}
1826
1828{
1829 if (!yarp().canWrite()) {
1831 }
1833 bool ok = yarp().write(helper, helper);
1834 return ok ? helper.reply.return_helper : return_get_localization_status{};
1835}
1836
1838{
1839 if (!yarp().canWrite()) {
1841 }
1843 bool ok = yarp().write(helper, helper);
1844 return ok ? helper.reply.return_helper : return_get_estimated_poses{};
1845}
1846
1848{
1849 if (!yarp().canWrite()) {
1851 }
1853 bool ok = yarp().write(helper, helper);
1854 return ok ? helper.reply.return_helper : return_get_current_position1{};
1855}
1856
1858{
1859 if (!yarp().canWrite()) {
1861 }
1863 bool ok = yarp().write(helper, helper);
1864 return ok ? helper.reply.return_helper : return_get_current_position2{};
1865}
1866
1868{
1869 if (!yarp().canWrite()) {
1871 }
1873 bool ok = yarp().write(helper, helper);
1874 return ok ? helper.reply.return_helper : return_get_estimated_odometry{};
1875}
1876
1878{
1879 if (!yarp().canWrite()) {
1881 }
1883 bool ok = yarp().write(helper, helper);
1884 return ok ? helper.reply.return_helper : bool{};
1885}
1886
1888{
1889 if (!yarp().canWrite()) {
1891 }
1893 bool ok = yarp().write(helper, helper);
1894 return ok ? helper.reply.return_helper : bool{};
1895}
1896
1897// help method
1898std::vector<std::string> ILocalization2DMsgs::help(const std::string& functionName)
1899{
1900 bool showAll = (functionName == "--all");
1901 std::vector<std::string> helpString;
1902 if (showAll) {
1903 helpString.emplace_back("*** Available commands:");
1913 helpString.emplace_back("help");
1914 } else {
1917 }
1920 }
1923 }
1926 }
1929 }
1932 }
1935 }
1938 }
1941 }
1942 if (functionName == "help") {
1943 helpString.emplace_back("std::vector<std::string> help(const std::string& functionName = \"--all\")");
1944 helpString.emplace_back("Return list of available commands, or help message for a specific function");
1945 helpString.emplace_back("@param functionName name of command for which to get a detailed description. If none or '--all' is provided, print list of available commands");
1946 helpString.emplace_back("@return list of strings (one string per line)");
1947 }
1948 }
1949 if (helpString.empty()) {
1950 helpString.emplace_back("Command not found");
1951 }
1952 return helpString;
1953}
1954
1955// read from ConnectionReader
1957{
1958 constexpr size_t max_tag_len = 4;
1959 size_t tag_len = 1;
1960
1961 yarp::os::idl::WireReader reader(connection);
1962 reader.expectAccept();
1963 if (!reader.readListHeader()) {
1964 reader.fail();
1965 return false;
1966 }
1967
1968 std::string tag = reader.readTag(1);
1969 bool direct = (tag == "__direct__");
1970 if (direct) {
1971 tag = reader.readTag(1);
1972 }
1973 while (tag_len <= max_tag_len && !reader.isError()) {
1976 if (!helper.cmd.readArgs(reader)) {
1977 return false;
1978 }
1979
1980 helper.call(this);
1981
1982 yarp::os::idl::WireWriter writer(reader);
1983 if (!helper.reply.write(writer)) {
1984 return false;
1985 }
1986 reader.accept();
1987 return true;
1988 }
1991 if (!helper.cmd.readArgs(reader)) {
1992 return false;
1993 }
1994
1995 helper.call(this);
1996
1997 yarp::os::idl::WireWriter writer(reader);
1998 if (!helper.reply.write(writer)) {
1999 return false;
2000 }
2001 reader.accept();
2002 return true;
2003 }
2006 if (!helper.cmd.readArgs(reader)) {
2007 return false;
2008 }
2009
2010 helper.call(this);
2011
2012 yarp::os::idl::WireWriter writer(reader);
2013 if (!helper.reply.write(writer)) {
2014 return false;
2015 }
2016 reader.accept();
2017 return true;
2018 }
2021 if (!helper.cmd.readArgs(reader)) {
2022 return false;
2023 }
2024
2025 helper.call(this);
2026
2027 yarp::os::idl::WireWriter writer(reader);
2028 if (!helper.reply.write(writer)) {
2029 return false;
2030 }
2031 reader.accept();
2032 return true;
2033 }
2036 if (!helper.cmd.readArgs(reader)) {
2037 return false;
2038 }
2039
2040 helper.call(this);
2041
2042 yarp::os::idl::WireWriter writer(reader);
2043 if (!helper.reply.write(writer)) {
2044 return false;
2045 }
2046 reader.accept();
2047 return true;
2048 }
2051 if (!helper.cmd.readArgs(reader)) {
2052 return false;
2053 }
2054
2055 helper.call(this);
2056
2057 yarp::os::idl::WireWriter writer(reader);
2058 if (!helper.reply.write(writer)) {
2059 return false;
2060 }
2061 reader.accept();
2062 return true;
2063 }
2066 if (!helper.cmd.readArgs(reader)) {
2067 return false;
2068 }
2069
2070 helper.call(this);
2071
2072 yarp::os::idl::WireWriter writer(reader);
2073 if (!helper.reply.write(writer)) {
2074 return false;
2075 }
2076 reader.accept();
2077 return true;
2078 }
2081 if (!helper.cmd.readArgs(reader)) {
2082 return false;
2083 }
2084
2085 helper.call(this);
2086
2087 yarp::os::idl::WireWriter writer(reader);
2088 if (!helper.reply.write(writer)) {
2089 return false;
2090 }
2091 reader.accept();
2092 return true;
2093 }
2096 if (!helper.cmd.readArgs(reader)) {
2097 return false;
2098 }
2099
2100 helper.call(this);
2101
2102 yarp::os::idl::WireWriter writer(reader);
2103 if (!helper.reply.write(writer)) {
2104 return false;
2105 }
2106 reader.accept();
2107 return true;
2108 }
2109 if (tag == "help") {
2110 std::string functionName;
2111 if (!reader.readString(functionName)) {
2112 functionName = "--all";
2113 }
2114 auto help_strings = help(functionName);
2115 yarp::os::idl::WireWriter writer(reader);
2116 if (!writer.isNull()) {
2117 if (!writer.writeListHeader(2)) {
2118 return false;
2119 }
2120 if (!writer.writeTag("many", 1, 0)) {
2121 return false;
2122 }
2123 if (!writer.writeListBegin(0, help_strings.size())) {
2124 return false;
2125 }
2126 for (const auto& help_string : help_strings) {
2127 if (!writer.writeString(help_string)) {
2128 return false;
2129 }
2130 }
2131 if (!writer.writeListEnd()) {
2132 return false;
2133 }
2134 }
2135 reader.accept();
2136 return true;
2137 }
2138 if (reader.noMore()) {
2139 reader.fail();
2140 return false;
2141 }
2142 std::string next_tag = reader.readTag(1);
2143 if (next_tag.empty()) {
2144 break;
2145 }
2146 tag.append("_").append(next_tag);
2147 tag_len = std::count(tag.begin(), tag.end(), '_') + 1;
2148 }
2149 return false;
2150}
#define yError(...)
Definition Log.h:361
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool(*)(const yarp::dev::Nav2D::Map2DLocation &) funcptr_t
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool(*)(const yarp::dev::Nav2D::Map2DLocation &, const yarp::sig::Matrix &) funcptr_t
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool writeArgs(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool writeTag(const yarp::os::idl::WireWriter &writer) const
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
virtual return_get_estimated_poses get_estimated_poses_RPC()
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
virtual return_get_current_position1 get_current_position1_RPC()
virtual bool start_localization_service_RPC()
virtual std::vector< std::string > help(const std::string &functionName="--all")
virtual return_get_estimated_odometry get_estimated_odometry_RPC()
virtual return_get_localization_status get_localization_status_RPC()
virtual bool set_initial_pose1_RPC(const yarp::dev::Nav2D::Map2DLocation &loc)
virtual return_get_current_position2 get_current_position2_RPC()
virtual bool set_initial_pose2_RPC(const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov)
virtual bool stop_localization_service_RPC()
An interface for reading from a network connection.
An interface for writing to a network connection.
This is a base class for objects that can be both read from and be written to the YARP network.
Definition Portable.h:25
A "tamed" Portable, that promises to serialize itself in an IDL-friendly way.
IDL-friendly connection reader.
Definition WireReader.h:27
bool readNested(WirePortable &obj)
bool readString(std::string &str, bool *is_vocab=nullptr)
std::string readTag(size_t len=static_cast< size_t >(-1))
bool read(WirePortable &obj)
IDL-friendly connection writer.
Definition WireWriter.h:28
bool writeBool(bool x, bool skip_tag=false) const
bool write(const WirePortable &obj) const
bool writeListHeader(int len) const
bool writeTag(const char *tag, int split, int len) const
bool writeString(const std::string &str, bool skip_tag=false) const
bool writeNested(const WirePortable &obj) const
bool writeListBegin(int tag, size_t len) const
A class for a Matrix.
Definition Matrix.h:39
The main, catch-all namespace for YARP.
Definition dirs.h:16