NaoSonarProtectedWalkCommand.hpp

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/*
 * file NaoSonarProtectedWalkCommand.hpp
 *
 * This file was generated by classgenerator from nao_sonar_protected_walk_command.gen.
 * DO NOT CHANGE MANUALLY!
 *
 * Copyright © 2021 Vlad Estivill-Castro. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. All advertising materials mentioning features or use of this
 *    software must display the following acknowledgement:
 *
 *        This product includes software developed by Vlad Estivill-Castro.
 *
 * 4. Neither the name of the author nor the names of contributors
 *    may be used to endorse or promote products derived from this
 *    software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * -----------------------------------------------------------------------
 * This program is free software; you can redistribute it and/or
 * modify it under the above terms or under the terms of the GNU
 * General Public License as published by the Free Software Foundation;
 * either version 2 of the License, or (at your option) any later version.
 *
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 */
 
#ifndef guWhiteboard_NaoSonarProtectedWalkCommand_h
#define guWhiteboard_NaoSonarProtectedWalkCommand_h
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
#include <cstdlib>
#include <string.h>
#include <sstream>
#endif
 
#include <gu_util.h>
#include "wb_nao_sonar_protected_walk_command.h"
 
#undef guWhiteboard_NaoSonarProtectedWalkCommand_DEFINED
#define guWhiteboard_NaoSonarProtectedWalkCommand_DEFINED
 
#undef NaoSonarProtectedWalkCommand_DEFINED
#define NaoSonarProtectedWalkCommand_DEFINED
 
 
 
namespace guWhiteboard {
 
    class NaoSonarProtectedWalkCommand: public wb_nao_sonar_protected_walk_command {
 
    private:
 
        void init(bool t_walkEngineOn = false, int16_t t_forward = 0, int16_t t_left = 0, int8_t t_turn = 0, int8_t t_priority = 1, bool t_exactStepsRequested = false, uint8_t t_speed = 100, bool t_isFast = false, bool t_kickWithLeftFoot = true, bool t_useShuffle = true, bool t_leftArmLimp = false, bool t_rightArmLimp = false, uint8_t t_power = 0, uint8_t t_odometryResetCounter = 0, uint8_t t_bend = 0) {
            set_walkEngineOn(t_walkEngineOn);
            set_forward(t_forward);
            set_left(t_left);
            set_turn(t_turn);
            set_priority(t_priority);
            set_exactStepsRequested(t_exactStepsRequested);
            set_speed(t_speed);
            set_isFast(t_isFast);
            set_kickWithLeftFoot(t_kickWithLeftFoot);
            set_useShuffle(t_useShuffle);
            set_leftArmLimp(t_leftArmLimp);
            set_rightArmLimp(t_rightArmLimp);
            set_power(t_power);
            set_odometryResetCounter(t_odometryResetCounter);
            set_bend(t_bend);
        }
 
    public:
 
        NaoSonarProtectedWalkCommand(bool t_walkEngineOn = false, int16_t t_forward = 0, int16_t t_left = 0, int8_t t_turn = 0, int8_t t_priority = 1, bool t_exactStepsRequested = false, uint8_t t_speed = 100, bool t_isFast = false, bool t_kickWithLeftFoot = true, bool t_useShuffle = true, bool t_leftArmLimp = false, bool t_rightArmLimp = false, uint8_t t_power = 0, uint8_t t_odometryResetCounter = 0, uint8_t t_bend = 0) {
            this->init(t_walkEngineOn, t_forward, t_left, t_turn, t_priority, t_exactStepsRequested, t_speed, t_isFast, t_kickWithLeftFoot, t_useShuffle, t_leftArmLimp, t_rightArmLimp, t_power, t_odometryResetCounter, t_bend);
        }
 
        NaoSonarProtectedWalkCommand(const NaoSonarProtectedWalkCommand &t_other): wb_nao_sonar_protected_walk_command() {
            this->init(t_other.walkEngineOn(), t_other.forward(), t_other.left(), t_other.turn(), t_other.priority(), t_other.exactStepsRequested(), t_other.speed(), t_other.isFast(), t_other.kickWithLeftFoot(), t_other.useShuffle(), t_other.leftArmLimp(), t_other.rightArmLimp(), t_other.power(), t_other.odometryResetCounter(), t_other.bend());
        }
 
        NaoSonarProtectedWalkCommand(const struct wb_nao_sonar_protected_walk_command &t_other): wb_nao_sonar_protected_walk_command() {
            this->init(t_other.walkEngineOn, t_other.forward, t_other.left, t_other.turn, t_other.priority, t_other.exactStepsRequested, t_other.speed, t_other.isFast, t_other.kickWithLeftFoot, t_other.useShuffle, t_other.leftArmLimp, t_other.rightArmLimp, t_other.power, t_other.odometryResetCounter, t_other.bend);
        }
 
        NaoSonarProtectedWalkCommand &operator = (const NaoSonarProtectedWalkCommand &t_other) {
            this->init(t_other.walkEngineOn(), t_other.forward(), t_other.left(), t_other.turn(), t_other.priority(), t_other.exactStepsRequested(), t_other.speed(), t_other.isFast(), t_other.kickWithLeftFoot(), t_other.useShuffle(), t_other.leftArmLimp(), t_other.rightArmLimp(), t_other.power(), t_other.odometryResetCounter(), t_other.bend());
            return *this;
        }
 
        NaoSonarProtectedWalkCommand &operator = (const struct wb_nao_sonar_protected_walk_command &t_other) {
            this->init(t_other.walkEngineOn, t_other.forward, t_other.left, t_other.turn, t_other.priority, t_other.exactStepsRequested, t_other.speed, t_other.isFast, t_other.kickWithLeftFoot, t_other.useShuffle, t_other.leftArmLimp, t_other.rightArmLimp, t_other.power, t_other.odometryResetCounter, t_other.bend);
            return *this;
        }
 
        bool operator ==(const NaoSonarProtectedWalkCommand &t_other) const
        {
            return walkEngineOn() == t_other.walkEngineOn()
                && forward() == t_other.forward()
                && left() == t_other.left()
                && turn() == t_other.turn()
                && priority() == t_other.priority()
                && exactStepsRequested() == t_other.exactStepsRequested()
                && speed() == t_other.speed()
                && isFast() == t_other.isFast()
                && kickWithLeftFoot() == t_other.kickWithLeftFoot()
                && useShuffle() == t_other.useShuffle()
                && leftArmLimp() == t_other.leftArmLimp()
                && rightArmLimp() == t_other.rightArmLimp()
                && power() == t_other.power()
                && odometryResetCounter() == t_other.odometryResetCounter()
                && bend() == t_other.bend();
        }
 
        bool operator !=(const NaoSonarProtectedWalkCommand &t_other) const
        {
            return !(*this == t_other);
        }
 
        bool operator ==(const wb_nao_sonar_protected_walk_command &t_other) const
        {
            return *this == NaoSonarProtectedWalkCommand(t_other);
        }
 
        bool operator !=(const wb_nao_sonar_protected_walk_command &t_other) const
        {
            return !(*this == t_other);
        }
 
        bool & walkEngineOn()
        {
            return wb_nao_sonar_protected_walk_command::walkEngineOn;
        }
 
        const bool & walkEngineOn() const
        {
            return wb_nao_sonar_protected_walk_command::walkEngineOn;
        }
 
        void set_walkEngineOn(const bool &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::walkEngineOn = t_newValue;
        }
 
        int16_t & forward()
        {
            return wb_nao_sonar_protected_walk_command::forward;
        }
 
        const int16_t & forward() const
        {
            return wb_nao_sonar_protected_walk_command::forward;
        }
 
        void set_forward(const int16_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::forward = t_newValue;
        }
 
        int16_t & left()
        {
            return wb_nao_sonar_protected_walk_command::left;
        }
 
        const int16_t & left() const
        {
            return wb_nao_sonar_protected_walk_command::left;
        }
 
        void set_left(const int16_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::left = t_newValue;
        }
 
        int8_t & turn()
        {
            return wb_nao_sonar_protected_walk_command::turn;
        }
 
        const int8_t & turn() const
        {
            return wb_nao_sonar_protected_walk_command::turn;
        }
 
        void set_turn(const int8_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::turn = t_newValue;
        }
 
        int8_t & priority()
        {
            return wb_nao_sonar_protected_walk_command::priority;
        }
 
        const int8_t & priority() const
        {
            return wb_nao_sonar_protected_walk_command::priority;
        }
 
        void set_priority(const int8_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::priority = t_newValue;
        }
 
        bool & exactStepsRequested()
        {
            return wb_nao_sonar_protected_walk_command::exactStepsRequested;
        }
 
        const bool & exactStepsRequested() const
        {
            return wb_nao_sonar_protected_walk_command::exactStepsRequested;
        }
 
        void set_exactStepsRequested(const bool &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::exactStepsRequested = t_newValue;
        }
 
        uint8_t & speed()
        {
            return wb_nao_sonar_protected_walk_command::speed;
        }
 
        const uint8_t & speed() const
        {
            return wb_nao_sonar_protected_walk_command::speed;
        }
 
        void set_speed(const uint8_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::speed = t_newValue;
        }
 
        bool & isFast()
        {
            return wb_nao_sonar_protected_walk_command::isFast;
        }
 
        const bool & isFast() const
        {
            return wb_nao_sonar_protected_walk_command::isFast;
        }
 
        void set_isFast(const bool &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::isFast = t_newValue;
        }
 
        bool & kickWithLeftFoot()
        {
            return wb_nao_sonar_protected_walk_command::kickWithLeftFoot;
        }
 
        const bool & kickWithLeftFoot() const
        {
            return wb_nao_sonar_protected_walk_command::kickWithLeftFoot;
        }
 
        void set_kickWithLeftFoot(const bool &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::kickWithLeftFoot = t_newValue;
        }
 
        bool & useShuffle()
        {
            return wb_nao_sonar_protected_walk_command::useShuffle;
        }
 
        const bool & useShuffle() const
        {
            return wb_nao_sonar_protected_walk_command::useShuffle;
        }
 
        void set_useShuffle(const bool &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::useShuffle = t_newValue;
        }
 
        bool & leftArmLimp()
        {
            return wb_nao_sonar_protected_walk_command::leftArmLimp;
        }
 
        const bool & leftArmLimp() const
        {
            return wb_nao_sonar_protected_walk_command::leftArmLimp;
        }
 
        void set_leftArmLimp(const bool &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::leftArmLimp = t_newValue;
        }
 
        bool & rightArmLimp()
        {
            return wb_nao_sonar_protected_walk_command::rightArmLimp;
        }
 
        const bool & rightArmLimp() const
        {
            return wb_nao_sonar_protected_walk_command::rightArmLimp;
        }
 
        void set_rightArmLimp(const bool &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::rightArmLimp = t_newValue;
        }
 
        uint8_t & power()
        {
            return wb_nao_sonar_protected_walk_command::power;
        }
 
        const uint8_t & power() const
        {
            return wb_nao_sonar_protected_walk_command::power;
        }
 
        void set_power(const uint8_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::power = t_newValue;
        }
 
        uint8_t & odometryResetCounter()
        {
            return wb_nao_sonar_protected_walk_command::odometryResetCounter;
        }
 
        const uint8_t & odometryResetCounter() const
        {
            return wb_nao_sonar_protected_walk_command::odometryResetCounter;
        }
 
        void set_odometryResetCounter(const uint8_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::odometryResetCounter = t_newValue;
        }
 
        uint8_t & bend()
        {
            return wb_nao_sonar_protected_walk_command::bend;
        }
 
        const uint8_t & bend() const
        {
            return wb_nao_sonar_protected_walk_command::bend;
        }
 
        void set_bend(const uint8_t &t_newValue)
        {
            wb_nao_sonar_protected_walk_command::bend = t_newValue;
        }
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
        NaoSonarProtectedWalkCommand(const std::string &t_str) {
            this->init();
            this->from_string(t_str);
        }
 
        std::string description() {
#ifdef USE_WB_NAO_SONAR_PROTECTED_WALK_COMMAND_C_CONVERSION
            char buffer[NAO_SONAR_PROTECTED_WALK_COMMAND_DESC_BUFFER_SIZE];
            wb_nao_sonar_protected_walk_command_description(this, buffer, sizeof(buffer));
            std::string descr = buffer;
            return descr;
#else
            std::ostringstream ss;
            ss << "walkEngineOn=" << (this->walkEngineOn() ? "true" : "false");
            ss << ", ";
            ss << "forward=" << static_cast<signed>(this->forward());
            ss << ", ";
            ss << "left=" << static_cast<signed>(this->left());
            ss << ", ";
            ss << "turn=" << static_cast<signed>(this->turn());
            ss << ", ";
            ss << "priority=" << static_cast<signed>(this->priority());
            ss << ", ";
            ss << "exactStepsRequested=" << (this->exactStepsRequested() ? "true" : "false");
            ss << ", ";
            ss << "speed=" << static_cast<unsigned>(this->speed());
            ss << ", ";
            ss << "isFast=" << (this->isFast() ? "true" : "false");
            ss << ", ";
            ss << "kickWithLeftFoot=" << (this->kickWithLeftFoot() ? "true" : "false");
            ss << ", ";
            ss << "useShuffle=" << (this->useShuffle() ? "true" : "false");
            ss << ", ";
            ss << "leftArmLimp=" << (this->leftArmLimp() ? "true" : "false");
            ss << ", ";
            ss << "rightArmLimp=" << (this->rightArmLimp() ? "true" : "false");
            ss << ", ";
            ss << "power=" << static_cast<unsigned>(this->power());
            ss << ", ";
            ss << "odometryResetCounter=" << static_cast<unsigned>(this->odometryResetCounter());
            ss << ", ";
            ss << "bend=" << static_cast<unsigned>(this->bend());
            return ss.str();
#endif 
        }
 
        std::string to_string() {
#ifdef USE_WB_NAO_SONAR_PROTECTED_WALK_COMMAND_C_CONVERSION
            char buffer[NAO_SONAR_PROTECTED_WALK_COMMAND_TO_STRING_BUFFER_SIZE];
            wb_nao_sonar_protected_walk_command_to_string(this, buffer, sizeof(buffer));
            std::string toString = buffer;
            return toString;
#else
            std::ostringstream ss;
            ss << (this->walkEngineOn() ? "true" : "false");
            ss << ", ";
            ss << static_cast<signed>(this->forward());
            ss << ", ";
            ss << static_cast<signed>(this->left());
            ss << ", ";
            ss << static_cast<signed>(this->turn());
            ss << ", ";
            ss << static_cast<signed>(this->priority());
            ss << ", ";
            ss << (this->exactStepsRequested() ? "true" : "false");
            ss << ", ";
            ss << static_cast<unsigned>(this->speed());
            ss << ", ";
            ss << (this->isFast() ? "true" : "false");
            ss << ", ";
            ss << (this->kickWithLeftFoot() ? "true" : "false");
            ss << ", ";
            ss << (this->useShuffle() ? "true" : "false");
            ss << ", ";
            ss << (this->leftArmLimp() ? "true" : "false");
            ss << ", ";
            ss << (this->rightArmLimp() ? "true" : "false");
            ss << ", ";
            ss << static_cast<unsigned>(this->power());
            ss << ", ";
            ss << static_cast<unsigned>(this->odometryResetCounter());
            ss << ", ";
            ss << static_cast<unsigned>(this->bend());
            return ss.str();
#endif 
        }
 
#ifdef USE_WB_NAO_SONAR_PROTECTED_WALK_COMMAND_C_CONVERSION
        void from_string(const std::string &t_str) {
            wb_nao_sonar_protected_walk_command_from_string(this, t_str.c_str());
#else
        void from_string(const std::string &t_str) {
            char * str_cstr = const_cast<char *>(t_str.c_str());
            size_t temp_length = strlen(str_cstr);
            int length = (temp_length <= INT_MAX) ? static_cast<int>(static_cast<ssize_t>(temp_length)) : -1;
            if (length < 1 || length > NAO_SONAR_PROTECTED_WALK_COMMAND_DESC_BUFFER_SIZE) {
                return;
            }
            char var_str_buffer[NAO_SONAR_PROTECTED_WALK_COMMAND_DESC_BUFFER_SIZE + 1];
            char* var_str = &var_str_buffer[0];
            char key_buffer[21];
            char* key = &key_buffer[0];
            int bracecount = 0;
            int startVar = 0;
            int index = 0;
            int startKey = 0;
            int endKey = -1;
            int varIndex = 0;
            if (index == 0 && str_cstr[0] == '{') {
                index = 1;
            }
            startVar = index;
            startKey = startVar;
            do {
                for (int i = index; i < length; i++) {
                    index = i + 1;
                    if (bracecount == 0 && str_cstr[i] == '=') {
                        endKey = i - 1;
                        startVar = index;
                        continue;
                    }
                    if (bracecount == 0 && isspace(str_cstr[i])) {
                        startVar = index;
                        if (endKey == -1) {
                            startKey = index;
                        }
                        continue;
                    }
                    if (bracecount == 0 && str_cstr[i] == ',') {
                        index = i - 1;
                        break;
                    }
                    if (str_cstr[i] == '{') {
                        bracecount++;
                        continue;
                    }
                    if (str_cstr[i] == '}') {
                        bracecount--;
                        if (bracecount < 0) {
                            index = i - 1;
                            break;
                        }
                    }
                    if (i == length - 1) {
                        index = i;
                    }
                }
                if (endKey >= startKey && endKey - startKey < length) {
                    strncpy(key, str_cstr + startKey, static_cast<size_t>((endKey - startKey) + 1));
                    key[(endKey - startKey) + 1] = 0;
                } else {
                    key[0] = 0;
                }
                strncpy(var_str, str_cstr + startVar, static_cast<size_t>((index - startVar) + 1));
                var_str[(index - startVar) + 1] = 0;
                bracecount = 0;
                index += 2;
                startVar = index;
                startKey = startVar;
                endKey = -1;
                if (strlen(key) > 0) {
                    if (0 == strcmp("walkEngineOn", key)) {
                        varIndex = 0;
                    } else if (0 == strcmp("forward", key)) {
                        varIndex = 1;
                    } else if (0 == strcmp("left", key)) {
                        varIndex = 2;
                    } else if (0 == strcmp("turn", key)) {
                        varIndex = 3;
                    } else if (0 == strcmp("priority", key)) {
                        varIndex = 4;
                    } else if (0 == strcmp("exactStepsRequested", key)) {
                        varIndex = 5;
                    } else if (0 == strcmp("speed", key)) {
                        varIndex = 6;
                    } else if (0 == strcmp("isFast", key)) {
                        varIndex = 7;
                    } else if (0 == strcmp("kickWithLeftFoot", key)) {
                        varIndex = 8;
                    } else if (0 == strcmp("useShuffle", key)) {
                        varIndex = 9;
                    } else if (0 == strcmp("leftArmLimp", key)) {
                        varIndex = 10;
                    } else if (0 == strcmp("rightArmLimp", key)) {
                        varIndex = 11;
                    } else if (0 == strcmp("power", key)) {
                        varIndex = 12;
                    } else if (0 == strcmp("odometryResetCounter", key)) {
                        varIndex = 13;
                    } else if (0 == strcmp("bend", key)) {
                        varIndex = 14;
                    } else {
                        varIndex = -1;
                    }
                }
                switch (varIndex) {
                    case -1: { break; }
                    case 0:
                    {
                        this->set_walkEngineOn(strcmp(var_str, "true") == 0 || strcmp(var_str, "1") == 0);
                        break;
                    }
                    case 1:
                    {
                        this->set_forward(static_cast<int16_t>(atoi(var_str)));
                        break;
                    }
                    case 2:
                    {
                        this->set_left(static_cast<int16_t>(atoi(var_str)));
                        break;
                    }
                    case 3:
                    {
                        this->set_turn(static_cast<int8_t>(atoi(var_str)));
                        break;
                    }
                    case 4:
                    {
                        this->set_priority(static_cast<int8_t>(atoi(var_str)));
                        break;
                    }
                    case 5:
                    {
                        this->set_exactStepsRequested(strcmp(var_str, "true") == 0 || strcmp(var_str, "1") == 0);
                        break;
                    }
                    case 6:
                    {
                        this->set_speed(static_cast<uint8_t>(atoi(var_str)));
                        break;
                    }
                    case 7:
                    {
                        this->set_isFast(strcmp(var_str, "true") == 0 || strcmp(var_str, "1") == 0);
                        break;
                    }
                    case 8:
                    {
                        this->set_kickWithLeftFoot(strcmp(var_str, "true") == 0 || strcmp(var_str, "1") == 0);
                        break;
                    }
                    case 9:
                    {
                        this->set_useShuffle(strcmp(var_str, "true") == 0 || strcmp(var_str, "1") == 0);
                        break;
                    }
                    case 10:
                    {
                        this->set_leftArmLimp(strcmp(var_str, "true") == 0 || strcmp(var_str, "1") == 0);
                        break;
                    }
                    case 11:
                    {
                        this->set_rightArmLimp(strcmp(var_str, "true") == 0 || strcmp(var_str, "1") == 0);
                        break;
                    }
                    case 12:
                    {
                        this->set_power(static_cast<uint8_t>(atoi(var_str)));
                        break;
                    }
                    case 13:
                    {
                        this->set_odometryResetCounter(static_cast<uint8_t>(atoi(var_str)));
                        break;
                    }
                    case 14:
                    {
                        this->set_bend(static_cast<uint8_t>(atoi(var_str)));
                        break;
                    }
                }
                if (varIndex >= 0) {
                    varIndex++;
                }
            } while(index < length);
#endif 
        }
#endif 
 
        public:
 
        static NaoSonarProtectedWalkCommand walkProtected(int8_t t_priority, int16_t t_forward, int16_t t_left, int8_t t_turn) {
            NaoSonarProtectedWalkCommand cmd = NaoSonarProtectedWalkCommand();
            cmd.set_priority(t_priority);
            cmd.set_walkEngineOn(true);
            cmd.set_forward(t_forward);
            cmd.set_left(t_left);
            cmd.set_turn(t_turn);
            cmd.set_bend(1);
            return cmd;
        }
 
        static NaoSonarProtectedWalkCommand walkProtectedPrecisely(int8_t t_priority, int16_t t_forward, int16_t t_left, int8_t t_turn) {
            NaoSonarProtectedWalkCommand cmd = walkProtected(t_priority, t_forward, t_left, t_turn);
            cmd.set_exactStepsRequested(true);
            return cmd;
        }
 
        static NaoSonarProtectedWalkCommand stop() {
            NaoSonarProtectedWalkCommand cmd = NaoSonarProtectedWalkCommand();
            cmd.set_priority(1);
            cmd.set_walkEngineOn(true);
            cmd.set_forward(0);
            cmd.set_left(0);
            cmd.set_turn(0);
            cmd.set_bend(1);
            return cmd;
        }
 
        static NaoSonarProtectedWalkCommand standWithStiffness() {
            NaoSonarProtectedWalkCommand cmd = stop();
            cmd.set_walkEngineOn(true);
            cmd.set_priority(1);
            cmd.set_bend(1);
            return cmd;
        }
 
 
 
        static NaoSonarProtectedWalkCommand standWithMinimalStiffness() {
            NaoSonarProtectedWalkCommand cmd = stop();
            cmd.set_priority(1);
            cmd.set_walkEngineOn(true);
            cmd.set_bend(0);
            return cmd;
        }
 
        static NaoSonarProtectedWalkCommand disconnectWalk() {
            NaoSonarProtectedWalkCommand cmd = NaoSonarProtectedWalkCommand();
            cmd.set_priority(1);
            cmd.set_walkEngineOn(false);
            return cmd;
        }
    };
 
} 
 
#endif