// Generated by the protocol buffer compiler.  DO NOT EDIT!
// source: cmvr/api/humanoid_robot_command.proto

package cmvr.api;

public final class HumanoidRobotCommand {
  private HumanoidRobotCommand() {}
  public static void registerAllExtensions(
      com.google.protobuf.ExtensionRegistryLite registry) {
  }

  public static void registerAllExtensions(
      com.google.protobuf.ExtensionRegistry registry) {
    registerAllExtensions(
        (com.google.protobuf.ExtensionRegistryLite) registry);
  }
  /**
   * Protobuf enum {@code cmvr.api.RobotCartesian}
   */
  public enum RobotCartesian
      implements com.google.protobuf.ProtocolMessageEnum {
    /**
     * <code>X = 0;</code>
     */
    X(0),
    /**
     * <code>Y = 1;</code>
     */
    Y(1),
    /**
     * <code>Z = 2;</code>
     */
    Z(2),
    /**
     * <code>RX = 3;</code>
     */
    RX(3),
    /**
     * <code>RY = 4;</code>
     */
    RY(4),
    /**
     * <code>RZ = 5;</code>
     */
    RZ(5),
    UNRECOGNIZED(-1),
    ;

    /**
     * <code>X = 0;</code>
     */
    public static final int X_VALUE = 0;
    /**
     * <code>Y = 1;</code>
     */
    public static final int Y_VALUE = 1;
    /**
     * <code>Z = 2;</code>
     */
    public static final int Z_VALUE = 2;
    /**
     * <code>RX = 3;</code>
     */
    public static final int RX_VALUE = 3;
    /**
     * <code>RY = 4;</code>
     */
    public static final int RY_VALUE = 4;
    /**
     * <code>RZ = 5;</code>
     */
    public static final int RZ_VALUE = 5;


    public final int getNumber() {
      if (this == UNRECOGNIZED) {
        throw new java.lang.IllegalArgumentException(
            "Can't get the number of an unknown enum value.");
      }
      return value;
    }

    /**
     * @param value The numeric wire value of the corresponding enum entry.
     * @return The enum associated with the given numeric wire value.
     * @deprecated Use {@link #forNumber(int)} instead.
     */
    @java.lang.Deprecated
    public static RobotCartesian valueOf(int value) {
      return forNumber(value);
    }

    /**
     * @param value The numeric wire value of the corresponding enum entry.
     * @return The enum associated with the given numeric wire value.
     */
    public static RobotCartesian forNumber(int value) {
      switch (value) {
        case 0: return X;
        case 1: return Y;
        case 2: return Z;
        case 3: return RX;
        case 4: return RY;
        case 5: return RZ;
        default: return null;
      }
    }

    public static com.google.protobuf.Internal.EnumLiteMap<RobotCartesian>
        internalGetValueMap() {
      return internalValueMap;
    }
    private static final com.google.protobuf.Internal.EnumLiteMap<
        RobotCartesian> internalValueMap =
          new com.google.protobuf.Internal.EnumLiteMap<RobotCartesian>() {
            public RobotCartesian findValueByNumber(int number) {
              return RobotCartesian.forNumber(number);
            }
          };

    public final com.google.protobuf.Descriptors.EnumValueDescriptor
        getValueDescriptor() {
      if (this == UNRECOGNIZED) {
        throw new java.lang.IllegalStateException(
            "Can't get the descriptor of an unrecognized enum value.");
      }
      return getDescriptor().getValues().get(ordinal());
    }
    public final com.google.protobuf.Descriptors.EnumDescriptor
        getDescriptorForType() {
      return getDescriptor();
    }
    public static final com.google.protobuf.Descriptors.EnumDescriptor
        getDescriptor() {
      return cmvr.api.HumanoidRobotCommand.getDescriptor().getEnumTypes().get(0);
    }

    private static final RobotCartesian[] VALUES = values();

    public static RobotCartesian valueOf(
        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
      if (desc.getType() != getDescriptor()) {
        throw new java.lang.IllegalArgumentException(
          "EnumValueDescriptor is not for this type.");
      }
      if (desc.getIndex() == -1) {
        return UNRECOGNIZED;
      }
      return VALUES[desc.getIndex()];
    }

    private final int value;

    private RobotCartesian(int value) {
      this.value = value;
    }

    // @@protoc_insertion_point(enum_scope:cmvr.api.RobotCartesian)
  }

  /**
   * Protobuf enum {@code cmvr.api.RobotJointIndexDirection}
   */
  public enum RobotJointIndexDirection
      implements com.google.protobuf.ProtocolMessageEnum {
    /**
     * <code>FORWARD = 0;</code>
     */
    FORWARD(0),
    /**
     * <code>BACKWARD = 1;</code>
     */
    BACKWARD(1),
    /**
     * <pre>
     * X轴正向
     * </pre>
     *
     * <code>X_POSITIVE = 2;</code>
     */
    X_POSITIVE(2),
    /**
     * <pre>
     * X轴负向
     * </pre>
     *
     * <code>X_NEGATIVE = 3;</code>
     */
    X_NEGATIVE(3),
    /**
     * <pre>
     * Y轴正向
     * </pre>
     *
     * <code>Y_POSITIVE = 4;</code>
     */
    Y_POSITIVE(4),
    /**
     * <pre>
     * Y轴负向
     * </pre>
     *
     * <code>Y_NEGATIVE = 5;</code>
     */
    Y_NEGATIVE(5),
    /**
     * <pre>
     * Z轴正向
     * </pre>
     *
     * <code>Z_POSITIVE = 6;</code>
     */
    Z_POSITIVE(6),
    /**
     * <pre>
     * Z轴负向
     * </pre>
     *
     * <code>Z_NEGATIVE = 7;</code>
     */
    Z_NEGATIVE(7),
    /**
     * <pre>
     * 绕X轴旋转
     * </pre>
     *
     * <code>ROTATE_X = 8;</code>
     */
    ROTATE_X(8),
    /**
     * <pre>
     * 绕Y轴旋转
     * </pre>
     *
     * <code>ROTATE_Y = 9;</code>
     */
    ROTATE_Y(9),
    /**
     * <pre>
     * 绕Z轴旋转
     * </pre>
     *
     * <code>ROTATE_Z = 10;</code>
     */
    ROTATE_Z(10),
    UNRECOGNIZED(-1),
    ;

    /**
     * <code>FORWARD = 0;</code>
     */
    public static final int FORWARD_VALUE = 0;
    /**
     * <code>BACKWARD = 1;</code>
     */
    public static final int BACKWARD_VALUE = 1;
    /**
     * <pre>
     * X轴正向
     * </pre>
     *
     * <code>X_POSITIVE = 2;</code>
     */
    public static final int X_POSITIVE_VALUE = 2;
    /**
     * <pre>
     * X轴负向
     * </pre>
     *
     * <code>X_NEGATIVE = 3;</code>
     */
    public static final int X_NEGATIVE_VALUE = 3;
    /**
     * <pre>
     * Y轴正向
     * </pre>
     *
     * <code>Y_POSITIVE = 4;</code>
     */
    public static final int Y_POSITIVE_VALUE = 4;
    /**
     * <pre>
     * Y轴负向
     * </pre>
     *
     * <code>Y_NEGATIVE = 5;</code>
     */
    public static final int Y_NEGATIVE_VALUE = 5;
    /**
     * <pre>
     * Z轴正向
     * </pre>
     *
     * <code>Z_POSITIVE = 6;</code>
     */
    public static final int Z_POSITIVE_VALUE = 6;
    /**
     * <pre>
     * Z轴负向
     * </pre>
     *
     * <code>Z_NEGATIVE = 7;</code>
     */
    public static final int Z_NEGATIVE_VALUE = 7;
    /**
     * <pre>
     * 绕X轴旋转
     * </pre>
     *
     * <code>ROTATE_X = 8;</code>
     */
    public static final int ROTATE_X_VALUE = 8;
    /**
     * <pre>
     * 绕Y轴旋转
     * </pre>
     *
     * <code>ROTATE_Y = 9;</code>
     */
    public static final int ROTATE_Y_VALUE = 9;
    /**
     * <pre>
     * 绕Z轴旋转
     * </pre>
     *
     * <code>ROTATE_Z = 10;</code>
     */
    public static final int ROTATE_Z_VALUE = 10;


    public final int getNumber() {
      if (this == UNRECOGNIZED) {
        throw new java.lang.IllegalArgumentException(
            "Can't get the number of an unknown enum value.");
      }
      return value;
    }

    /**
     * @param value The numeric wire value of the corresponding enum entry.
     * @return The enum associated with the given numeric wire value.
     * @deprecated Use {@link #forNumber(int)} instead.
     */
    @java.lang.Deprecated
    public static RobotJointIndexDirection valueOf(int value) {
      return forNumber(value);
    }

    /**
     * @param value The numeric wire value of the corresponding enum entry.
     * @return The enum associated with the given numeric wire value.
     */
    public static RobotJointIndexDirection forNumber(int value) {
      switch (value) {
        case 0: return FORWARD;
        case 1: return BACKWARD;
        case 2: return X_POSITIVE;
        case 3: return X_NEGATIVE;
        case 4: return Y_POSITIVE;
        case 5: return Y_NEGATIVE;
        case 6: return Z_POSITIVE;
        case 7: return Z_NEGATIVE;
        case 8: return ROTATE_X;
        case 9: return ROTATE_Y;
        case 10: return ROTATE_Z;
        default: return null;
      }
    }

    public static com.google.protobuf.Internal.EnumLiteMap<RobotJointIndexDirection>
        internalGetValueMap() {
      return internalValueMap;
    }
    private static final com.google.protobuf.Internal.EnumLiteMap<
        RobotJointIndexDirection> internalValueMap =
          new com.google.protobuf.Internal.EnumLiteMap<RobotJointIndexDirection>() {
            public RobotJointIndexDirection findValueByNumber(int number) {
              return RobotJointIndexDirection.forNumber(number);
            }
          };

    public final com.google.protobuf.Descriptors.EnumValueDescriptor
        getValueDescriptor() {
      if (this == UNRECOGNIZED) {
        throw new java.lang.IllegalStateException(
            "Can't get the descriptor of an unrecognized enum value.");
      }
      return getDescriptor().getValues().get(ordinal());
    }
    public final com.google.protobuf.Descriptors.EnumDescriptor
        getDescriptorForType() {
      return getDescriptor();
    }
    public static final com.google.protobuf.Descriptors.EnumDescriptor
        getDescriptor() {
      return cmvr.api.HumanoidRobotCommand.getDescriptor().getEnumTypes().get(1);
    }

    private static final RobotJointIndexDirection[] VALUES = values();

    public static RobotJointIndexDirection valueOf(
        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
      if (desc.getType() != getDescriptor()) {
        throw new java.lang.IllegalArgumentException(
          "EnumValueDescriptor is not for this type.");
      }
      if (desc.getIndex() == -1) {
        return UNRECOGNIZED;
      }
      return VALUES[desc.getIndex()];
    }

    private final int value;

    private RobotJointIndexDirection(int value) {
      this.value = value;
    }

    // @@protoc_insertion_point(enum_scope:cmvr.api.RobotJointIndexDirection)
  }

  public interface JointCmdOrBuilder extends
      // @@protoc_insertion_point(interface_extends:cmvr.api.JointCmd)
      com.google.protobuf.MessageOrBuilder {

    /**
     * <pre>
     * 关节名称
     * </pre>
     *
     * <code>string joint_name = 1;</code>
     * @return The jointName.
     */
    java.lang.String getJointName();
    /**
     * <pre>
     * 关节名称
     * </pre>
     *
     * <code>string joint_name = 1;</code>
     * @return The bytes for jointName.
     */
    com.google.protobuf.ByteString
        getJointNameBytes();

    /**
     * <pre>
     * 弧度
     * </pre>
     *
     * <code>double rad = 2;</code>
     * @return The rad.
     */
    double getRad();

    /**
     * <pre>
     * 角速度，rad/s
     * </pre>
     *
     * <code>double vel = 3;</code>
     * @return The vel.
     */
    double getVel();
  }
  /**
   * Protobuf type {@code cmvr.api.JointCmd}
   */
  public static final class JointCmd extends
      com.google.protobuf.GeneratedMessageV3 implements
      // @@protoc_insertion_point(message_implements:cmvr.api.JointCmd)
      JointCmdOrBuilder {
  private static final long serialVersionUID = 0L;
    // Use JointCmd.newBuilder() to construct.
    private JointCmd(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
      super(builder);
    }
    private JointCmd() {
      jointName_ = "";
    }

    @java.lang.Override
    @SuppressWarnings({"unused"})
    protected java.lang.Object newInstance(
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      return new JointCmd();
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    @java.lang.Override
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      return this.unknownFields;
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    public static final com.google.protobuf.Descriptors.Descriptor
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      return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointCmd_descriptor;
    }

    @java.lang.Override
    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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    /**
     * <pre>
     * 关节名称
     * </pre>
     *
     * <code>string joint_name = 1;</code>
     * @return The jointName.
     */
    @java.lang.Override
    public java.lang.String getJointName() {
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     *
     * <code>string joint_name = 1;</code>
     * @return The bytes for jointName.
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    @java.lang.Override
    public com.google.protobuf.ByteString
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        jointName_ = b;
        return b;
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    public static final int RAD_FIELD_NUMBER = 2;
    private double rad_;
    /**
     * <pre>
     * 弧度
     * </pre>
     *
     * <code>double rad = 2;</code>
     * @return The rad.
     */
    @java.lang.Override
    public double getRad() {
      return rad_;
    }

    public static final int VEL_FIELD_NUMBER = 3;
    private double vel_;
    /**
     * <pre>
     * 角速度，rad/s
     * </pre>
     *
     * <code>double vel = 3;</code>
     * @return The vel.
     */
    @java.lang.Override
    public double getVel() {
      return vel_;
    }

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    public void writeTo(com.google.protobuf.CodedOutputStream output)
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    @java.lang.Override
    public boolean equals(final java.lang.Object obj) {
      if (obj == this) {
       return true;
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      if (!(obj instanceof cmvr.api.HumanoidRobotCommand.JointCmd)) {
        return super.equals(obj);
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              other.getVel())) return false;
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    @java.lang.Override
    public int hashCode() {
      if (memoizedHashCode != 0) {
        return memoizedHashCode;
      }
      int hash = 41;
      hash = (19 * hash) + getDescriptor().hashCode();
      hash = (37 * hash) + JOINT_NAME_FIELD_NUMBER;
      hash = (53 * hash) + getJointName().hashCode();
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    }

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    /**
     * Protobuf type {@code cmvr.api.JointCmd}
     */
    public static final class Builder extends
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        // @@protoc_insertion_point(builder_implements:cmvr.api.JointCmd)
        cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder {
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        jointName_ = "";

        rad_ = 0D;

        vel_ = 0D;

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        result.rad_ = rad_;
        result.vel_ = vel_;
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        @java.lang.Override
        public Builder clear() {
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          if (headerBuilder_ == null) {
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          if (cmdsBuilder_ == null) {
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          cmvr.api.HumanoidRobotCommand.MoveJ.Request result = buildPartial();
          if (!result.isInitialized()) {
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        @java.lang.Override
        public cmvr.api.HumanoidRobotCommand.MoveJ.Request buildPartial() {
          cmvr.api.HumanoidRobotCommand.MoveJ.Request result = new cmvr.api.HumanoidRobotCommand.MoveJ.Request(this);
          int from_bitField0_ = bitField0_;
          if (headerBuilder_ == null) {
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          if (cmdsBuilder_ == null) {
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          result.vel_ = vel_;
          result.acc_ = acc_;
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        @java.lang.Override
        public Builder setField(
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          return super.setField(field, value);
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        @java.lang.Override
        public Builder clearField(
            com.google.protobuf.Descriptors.FieldDescriptor field) {
          return super.clearField(field);
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        @java.lang.Override
        public Builder clearOneof(
            com.google.protobuf.Descriptors.OneofDescriptor oneof) {
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        @java.lang.Override
        public Builder setRepeatedField(
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            int index, java.lang.Object value) {
          return super.setRepeatedField(field, index, value);
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        @java.lang.Override
        public Builder addRepeatedField(
            com.google.protobuf.Descriptors.FieldDescriptor field,
            java.lang.Object value) {
          return super.addRepeatedField(field, value);
        }
        @java.lang.Override
        public Builder mergeFrom(com.google.protobuf.Message other) {
          if (other instanceof cmvr.api.HumanoidRobotCommand.MoveJ.Request) {
            return mergeFrom((cmvr.api.HumanoidRobotCommand.MoveJ.Request)other);
          } else {
            super.mergeFrom(other);
            return this;
          }
        }

        public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.MoveJ.Request other) {
          if (other == cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()) return this;
          if (other.hasHeader()) {
            mergeHeader(other.getHeader());
          }
          if (cmdsBuilder_ == null) {
            if (!other.cmds_.isEmpty()) {
              if (cmds_.isEmpty()) {
                cmds_ = other.cmds_;
                bitField0_ = (bitField0_ & ~0x00000001);
              } else {
                ensureCmdsIsMutable();
                cmds_.addAll(other.cmds_);
              }
              onChanged();
            }
          } else {
            if (!other.cmds_.isEmpty()) {
              if (cmdsBuilder_.isEmpty()) {
                cmdsBuilder_.dispose();
                cmdsBuilder_ = null;
                cmds_ = other.cmds_;
                bitField0_ = (bitField0_ & ~0x00000001);
                cmdsBuilder_ = 
                  com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
                     getCmdsFieldBuilder() : null;
              } else {
                cmdsBuilder_.addAllMessages(other.cmds_);
              }
            }
          }
          if (other.getVel() != 0D) {
            setVel(other.getVel());
          }
          if (other.getAcc() != 0D) {
            setAcc(other.getAcc());
          }
          this.mergeUnknownFields(other.getUnknownFields());
          onChanged();
          return this;
        }

        @java.lang.Override
        public final boolean isInitialized() {
          return true;
        }

        @java.lang.Override
        public Builder mergeFrom(
            com.google.protobuf.CodedInputStream input,
            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
            throws java.io.IOException {
          if (extensionRegistry == null) {
            throw new java.lang.NullPointerException();
          }
          try {
            boolean done = false;
            while (!done) {
              int tag = input.readTag();
              switch (tag) {
                case 0:
                  done = true;
                  break;
                case 10: {
                  input.readMessage(
                      getHeaderFieldBuilder().getBuilder(),
                      extensionRegistry);

                  break;
                } // case 10
                case 18: {
                  cmvr.api.HumanoidRobotCommand.JointCmd m =
                      input.readMessage(
                          cmvr.api.HumanoidRobotCommand.JointCmd.parser(),
                          extensionRegistry);
                  if (cmdsBuilder_ == null) {
                    ensureCmdsIsMutable();
                    cmds_.add(m);
                  } else {
                    cmdsBuilder_.addMessage(m);
                  }
                  break;
                } // case 18
                case 25: {
                  vel_ = input.readDouble();

                  break;
                } // case 25
                case 33: {
                  acc_ = input.readDouble();

                  break;
                } // case 33
                default: {
                  if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                    done = true; // was an endgroup tag
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                  break;
                } // default:
              } // switch (tag)
            } // while (!done)
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            throw e.unwrapIOException();
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            onChanged();
          } // finally
          return this;
        }
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        private cmvr.api.Common.CommandHeader.Request header_;
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            header_ = value;
            onChanged();
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            headerBuilder_.setMessage(value);
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          return this;
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        /**
         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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        public Builder setHeader(
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          if (headerBuilder_ == null) {
            header_ = builderForValue.build();
            onChanged();
          } else {
            headerBuilder_.setMessage(builderForValue.build());
          }

          return this;
        }
        /**
         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
          if (headerBuilder_ == null) {
            if (header_ != null) {
              header_ =
                cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
            } else {
              header_ = value;
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            onChanged();
          } else {
            headerBuilder_.mergeFrom(value);
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          return this;
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        /**
         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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        public Builder clearHeader() {
          if (headerBuilder_ == null) {
            header_ = null;
            onChanged();
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            header_ = null;
            headerBuilder_ = null;
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          return this;
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         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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          onChanged();
          return getHeaderFieldBuilder().getBuilder();
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        /**
         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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          if (headerBuilder_ != null) {
            return headerBuilder_.getMessageOrBuilder();
          } else {
            return header_ == null ?
                cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
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        }
        /**
         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
         */
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            getHeaderFieldBuilder() {
          if (headerBuilder_ == null) {
            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
                cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
                    getHeader(),
                    getParentForChildren(),
                    isClean());
            header_ = null;
          }
          return headerBuilder_;
        }

        private java.util.List<cmvr.api.HumanoidRobotCommand.JointCmd> cmds_ =
          java.util.Collections.emptyList();
        private void ensureCmdsIsMutable() {
          if (!((bitField0_ & 0x00000001) != 0)) {
            cmds_ = new java.util.ArrayList<cmvr.api.HumanoidRobotCommand.JointCmd>(cmds_);
            bitField0_ |= 0x00000001;
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        private com.google.protobuf.RepeatedFieldBuilderV3<
            cmvr.api.HumanoidRobotCommand.JointCmd, cmvr.api.HumanoidRobotCommand.JointCmd.Builder, cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder> cmdsBuilder_;

        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public java.util.List<cmvr.api.HumanoidRobotCommand.JointCmd> getCmdsList() {
          if (cmdsBuilder_ == null) {
            return java.util.Collections.unmodifiableList(cmds_);
          } else {
            return cmdsBuilder_.getMessageList();
          }
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public int getCmdsCount() {
          if (cmdsBuilder_ == null) {
            return cmds_.size();
          } else {
            return cmdsBuilder_.getCount();
          }
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public cmvr.api.HumanoidRobotCommand.JointCmd getCmds(int index) {
          if (cmdsBuilder_ == null) {
            return cmds_.get(index);
          } else {
            return cmdsBuilder_.getMessage(index);
          }
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder setCmds(
            int index, cmvr.api.HumanoidRobotCommand.JointCmd value) {
          if (cmdsBuilder_ == null) {
            if (value == null) {
              throw new NullPointerException();
            }
            ensureCmdsIsMutable();
            cmds_.set(index, value);
            onChanged();
          } else {
            cmdsBuilder_.setMessage(index, value);
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder setCmds(
            int index, cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
          if (cmdsBuilder_ == null) {
            ensureCmdsIsMutable();
            cmds_.set(index, builderForValue.build());
            onChanged();
          } else {
            cmdsBuilder_.setMessage(index, builderForValue.build());
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder addCmds(cmvr.api.HumanoidRobotCommand.JointCmd value) {
          if (cmdsBuilder_ == null) {
            if (value == null) {
              throw new NullPointerException();
            }
            ensureCmdsIsMutable();
            cmds_.add(value);
            onChanged();
          } else {
            cmdsBuilder_.addMessage(value);
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder addCmds(
            int index, cmvr.api.HumanoidRobotCommand.JointCmd value) {
          if (cmdsBuilder_ == null) {
            if (value == null) {
              throw new NullPointerException();
            }
            ensureCmdsIsMutable();
            cmds_.add(index, value);
            onChanged();
          } else {
            cmdsBuilder_.addMessage(index, value);
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder addCmds(
            cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
          if (cmdsBuilder_ == null) {
            ensureCmdsIsMutable();
            cmds_.add(builderForValue.build());
            onChanged();
          } else {
            cmdsBuilder_.addMessage(builderForValue.build());
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder addCmds(
            int index, cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
          if (cmdsBuilder_ == null) {
            ensureCmdsIsMutable();
            cmds_.add(index, builderForValue.build());
            onChanged();
          } else {
            cmdsBuilder_.addMessage(index, builderForValue.build());
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder addAllCmds(
            java.lang.Iterable<? extends cmvr.api.HumanoidRobotCommand.JointCmd> values) {
          if (cmdsBuilder_ == null) {
            ensureCmdsIsMutable();
            com.google.protobuf.AbstractMessageLite.Builder.addAll(
                values, cmds_);
            onChanged();
          } else {
            cmdsBuilder_.addAllMessages(values);
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder clearCmds() {
          if (cmdsBuilder_ == null) {
            cmds_ = java.util.Collections.emptyList();
            bitField0_ = (bitField0_ & ~0x00000001);
            onChanged();
          } else {
            cmdsBuilder_.clear();
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public Builder removeCmds(int index) {
          if (cmdsBuilder_ == null) {
            ensureCmdsIsMutable();
            cmds_.remove(index);
            onChanged();
          } else {
            cmdsBuilder_.remove(index);
          }
          return this;
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public cmvr.api.HumanoidRobotCommand.JointCmd.Builder getCmdsBuilder(
            int index) {
          return getCmdsFieldBuilder().getBuilder(index);
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder getCmdsOrBuilder(
            int index) {
          if (cmdsBuilder_ == null) {
            return cmds_.get(index);  } else {
            return cmdsBuilder_.getMessageOrBuilder(index);
          }
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public java.util.List<? extends cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder> 
             getCmdsOrBuilderList() {
          if (cmdsBuilder_ != null) {
            return cmdsBuilder_.getMessageOrBuilderList();
          } else {
            return java.util.Collections.unmodifiableList(cmds_);
          }
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public cmvr.api.HumanoidRobotCommand.JointCmd.Builder addCmdsBuilder() {
          return getCmdsFieldBuilder().addBuilder(
              cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance());
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public cmvr.api.HumanoidRobotCommand.JointCmd.Builder addCmdsBuilder(
            int index) {
          return getCmdsFieldBuilder().addBuilder(
              index, cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance());
        }
        /**
         * <code>repeated .cmvr.api.JointCmd cmds = 2;</code>
         */
        public java.util.List<cmvr.api.HumanoidRobotCommand.JointCmd.Builder> 
             getCmdsBuilderList() {
          return getCmdsFieldBuilder().getBuilderList();
        }
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            getCmdsFieldBuilder() {
          if (cmdsBuilder_ == null) {
            cmdsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
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                    ((bitField0_ & 0x00000001) != 0),
                    getParentForChildren(),
                    isClean());
            cmds_ = null;
          }
          return cmdsBuilder_;
        }

        private double vel_ ;
        /**
         * <code>double vel = 3;</code>
         * @return The vel.
         */
        @java.lang.Override
        public double getVel() {
          return vel_;
        }
        /**
         * <code>double vel = 3;</code>
         * @param value The vel to set.
         * @return This builder for chaining.
         */
        public Builder setVel(double value) {
          
          vel_ = value;
          onChanged();
          return this;
        }
        /**
         * <code>double vel = 3;</code>
         * @return This builder for chaining.
         */
        public Builder clearVel() {
          
          vel_ = 0D;
          onChanged();
          return this;
        }

        private double acc_ ;
        /**
         * <code>double acc = 4;</code>
         * @return The acc.
         */
        @java.lang.Override
        public double getAcc() {
          return acc_;
        }
        /**
         * <code>double acc = 4;</code>
         * @param value The acc to set.
         * @return This builder for chaining.
         */
        public Builder setAcc(double value) {
          
          acc_ = value;
          onChanged();
          return this;
        }
        /**
         * <code>double acc = 4;</code>
         * @return This builder for chaining.
         */
        public Builder clearAcc() {
          
          acc_ = 0D;
          onChanged();
          return this;
        }
        @java.lang.Override
        public final Builder setUnknownFields(
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          return super.setUnknownFields(unknownFields);
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        @java.lang.Override
        public final Builder mergeUnknownFields(
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          return super.mergeUnknownFields(unknownFields);
        }


        // @@protoc_insertion_point(builder_scope:cmvr.api.MoveJ.Request)
      }

      // @@protoc_insertion_point(class_scope:cmvr.api.MoveJ.Request)
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          try {
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      public cmvr.api.HumanoidRobotCommand.MoveJ.Request getDefaultInstanceForType() {
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     * Protobuf type {@code cmvr.api.MoveJ.Response}
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        return getHeader();
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      public java.lang.String getJointName() {
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      public double getAcc() {
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        return dir_;
      }
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       * <code>.cmvr.api.RobotJointIndexDirection dir = 5;</code>
       * @return The dir.
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        cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection result = cmvr.api.HumanoidRobotCommand.RobotJointIndexDirection.valueOf(dir_);
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        if (hasHeader() != other.hasHeader()) return false;
        if (hasHeader()) {
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        if (!getJointName()
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        if (java.lang.Double.doubleToLongBits(getVel())
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        if (java.lang.Double.doubleToLongBits(getAcc())
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                other.getAcc())) return false;
        if (dir_ != other.dir_) return false;
        if (!getUnknownFields().equals(other.getUnknownFields())) return false;
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      @java.lang.Override
      public int hashCode() {
        if (memoizedHashCode != 0) {
          return memoizedHashCode;
        }
        int hash = 41;
        hash = (19 * hash) + getDescriptor().hashCode();
        if (hasHeader()) {
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          hash = (53 * hash) + getHeader().hashCode();
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        return PARSER.parseFrom(data, extensionRegistry);
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          com.google.protobuf.ByteString data)
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      public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseFrom(
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          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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        return PARSER.parseFrom(data, extensionRegistry);
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      public static cmvr.api.HumanoidRobotCommand.SpeedJ.Request parseDelimitedFrom(
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        return com.google.protobuf.GeneratedMessageV3
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      public Builder newBuilderForType() { return newBuilder(); }
      public static Builder newBuilder() {
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      public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.SpeedJ.Request prototype) {
        return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
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      public Builder toBuilder() {
        return this == DEFAULT_INSTANCE
            ? new Builder() : new Builder().mergeFrom(this);
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      @java.lang.Override
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        Builder builder = new Builder(parent);
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      /**
       * Protobuf type {@code cmvr.api.SpeedJ.Request}
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          com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
          // @@protoc_insertion_point(builder_implements:cmvr.api.SpeedJ.Request)
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        public static final com.google.protobuf.Descriptors.Descriptor
            getDescriptor() {
          return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_SpeedJ_Request_descriptor;
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        @java.lang.Override
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        @java.lang.Override
        public cmvr.api.HumanoidRobotCommand.SpeedJ.Request buildPartial() {
          cmvr.api.HumanoidRobotCommand.SpeedJ.Request result = new cmvr.api.HumanoidRobotCommand.SpeedJ.Request(this);
          if (headerBuilder_ == null) {
            result.header_ = header_;
          } else {
            result.header_ = headerBuilder_.build();
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          result.jointName_ = jointName_;
          result.vel_ = vel_;
          result.acc_ = acc_;
          result.dir_ = dir_;
          onBuilt();
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        @java.lang.Override
        public Builder setField(
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        @java.lang.Override
        public Builder setRepeatedField(
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            int index, java.lang.Object value) {
          return super.setRepeatedField(field, index, value);
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        @java.lang.Override
        public Builder addRepeatedField(
            com.google.protobuf.Descriptors.FieldDescriptor field,
            java.lang.Object value) {
          return super.addRepeatedField(field, value);
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        @java.lang.Override
        public Builder mergeFrom(com.google.protobuf.Message other) {
          if (other instanceof cmvr.api.HumanoidRobotCommand.SpeedJ.Request) {
            return mergeFrom((cmvr.api.HumanoidRobotCommand.SpeedJ.Request)other);
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        public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.SpeedJ.Request other) {
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          if (!other.getJointName().isEmpty()) {
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          if (other.getVel() != 0D) {
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          if (other.getAcc() != 0D) {
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          if (other.dir_ != 0) {
            setDirValue(other.getDirValue());
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          this.mergeUnknownFields(other.getUnknownFields());
          onChanged();
          return this;
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        @java.lang.Override
        public final boolean isInitialized() {
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        @java.lang.Override
        public Builder mergeFrom(
            com.google.protobuf.CodedInputStream input,
            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
            throws java.io.IOException {
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                  break;
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                case 40: {
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            header_ = value;
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         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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        public Builder setHeader(
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          if (headerBuilder_ == null) {
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          return this;
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         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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          if (headerBuilder_ == null) {
            header_ = null;
            onChanged();
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            header_ = null;
            headerBuilder_ = null;
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         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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            header_ = null;
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        private java.lang.Object jointName_ = "";
        /**
         * <code>string joint_name = 2;</code>
         * @return The jointName.
         */
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            com.google.protobuf.ByteString bs =
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          java.lang.Object ref = jointName_;
          if (ref instanceof String) {
            com.google.protobuf.ByteString b = 
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            jointName_ = b;
            return b;
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        /**
         * <code>string joint_name = 2;</code>
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         * @return This builder for chaining.
         */
        public Builder setJointName(
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          if (value == null) {
    throw new NullPointerException();
  }
  
          jointName_ = value;
          onChanged();
          return this;
        }
        /**
         * <code>string joint_name = 2;</code>
         * @return This builder for chaining.
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        public Builder clearJointName() {
          
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          onChanged();
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        /**
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         * @return This builder for chaining.
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        public Builder setJointNameBytes(
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          if (value == null) {
    throw new NullPointerException();
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  checkByteStringIsUtf8(value);
          
          jointName_ = value;
          onChanged();
          return this;
        }

        private double vel_ ;
        /**
         * <code>double vel = 3;</code>
         * @return The vel.
         */
        @java.lang.Override
        public double getVel() {
          return vel_;
        }
        /**
         * <code>double vel = 3;</code>
         * @param value The vel to set.
         * @return This builder for chaining.
         */
        public Builder setVel(double value) {
          
          vel_ = value;
          onChanged();
          return this;
        }
        /**
         * <code>double vel = 3;</code>
         * @return This builder for chaining.
         */
        public Builder clearVel() {
          
          vel_ = 0D;
          onChanged();
          return this;
        }

        private double acc_ ;
        /**
         * <code>double acc = 4;</code>
         * @return The acc.
         */
        @java.lang.Override
        public double getAcc() {
          return acc_;
        }
        /**
         * <code>double acc = 4;</code>
         * @param value The acc to set.
         * @return This builder for chaining.
         */
        public Builder setAcc(double value) {
          
          acc_ = value;
          onChanged();
          return this;
        }
        /**
         * <code>double acc = 4;</code>
         * @return This builder for chaining.
         */
        public Builder clearAcc() {
          
          acc_ = 0D;
          onChanged();
          return this;
        }

        private int dir_ = 0;
        /**
         * <code>.cmvr.api.RobotJointIndexDirection dir = 5;</code>
         * @return The enum numeric value on the wire for dir.
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        @java.lang.Override public int getDirValue() {
          return dir_;
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       * <pre>
       * 关节名称
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       * @param value The name to set.
       * @return This builder for chaining.
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       * <pre>
       * 关节名称
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       *
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       * @return This builder for chaining.
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       * <pre>
       * 关节名称
       * </pre>
       *
       * <code>repeated string name = 1;</code>
       * @param values The name to add.
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       * <pre>
       * 关节名称
       * </pre>
       *
       * <code>repeated string name = 1;</code>
       * @return This builder for chaining.
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       * <pre>
       * 关节名称
       * </pre>
       *
       * <code>repeated string name = 1;</code>
       * @param value The bytes of the name to add.
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       * <pre>
       * 关节位置
       * </pre>
       *
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      /**
       * <pre>
       * 关节位置
       * </pre>
       *
       * <code>repeated double position = 2;</code>
       * @return The count of position.
       */
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      /**
       * <pre>
       * 关节位置
       * </pre>
       *
       * <code>repeated double position = 2;</code>
       * @param index The index of the element to return.
       * @return The position at the given index.
       */
      public double getPosition(int index) {
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      /**
       * <pre>
       * 关节位置
       * </pre>
       *
       * <code>repeated double position = 2;</code>
       * @param index The index to set the value at.
       * @param value The position to set.
       * @return This builder for chaining.
       */
      public Builder setPosition(
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      /**
       * <pre>
       * 关节位置
       * </pre>
       *
       * <code>repeated double position = 2;</code>
       * @param value The position to add.
       * @return This builder for chaining.
       */
      public Builder addPosition(double value) {
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        onChanged();
        return this;
      }
      /**
       * <pre>
       * 关节位置
       * </pre>
       *
       * <code>repeated double position = 2;</code>
       * @param values The position to add.
       * @return This builder for chaining.
       */
      public Builder addAllPosition(
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        ensurePositionIsMutable();
        com.google.protobuf.AbstractMessageLite.Builder.addAll(
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        onChanged();
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      /**
       * <pre>
       * 关节位置
       * </pre>
       *
       * <code>repeated double position = 2;</code>
       * @return This builder for chaining.
       */
      public Builder clearPosition() {
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      private com.google.protobuf.Internal.DoubleList velocity_ = emptyDoubleList();
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          bitField0_ |= 0x00000004;
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      }
      /**
       * <pre>
       * 可选：关节速度
       * </pre>
       *
       * <code>repeated double velocity = 3;</code>
       * @return A list containing the velocity.
       */
      public java.util.List<java.lang.Double>
          getVelocityList() {
        return ((bitField0_ & 0x00000004) != 0) ?
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      }
      /**
       * <pre>
       * 可选：关节速度
       * </pre>
       *
       * <code>repeated double velocity = 3;</code>
       * @return The count of velocity.
       */
      public int getVelocityCount() {
        return velocity_.size();
      }
      /**
       * <pre>
       * 可选：关节速度
       * </pre>
       *
       * <code>repeated double velocity = 3;</code>
       * @param index The index of the element to return.
       * @return The velocity at the given index.
       */
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      }
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       * <pre>
       * 可选：关节速度
       * </pre>
       *
       * <code>repeated double velocity = 3;</code>
       * @param index The index to set the value at.
       * @param value The velocity to set.
       * @return This builder for chaining.
       */
      public Builder setVelocity(
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        ensureVelocityIsMutable();
        velocity_.setDouble(index, value);
        onChanged();
        return this;
      }
      /**
       * <pre>
       * 可选：关节速度
       * </pre>
       *
       * <code>repeated double velocity = 3;</code>
       * @param value The velocity to add.
       * @return This builder for chaining.
       */
      public Builder addVelocity(double value) {
        ensureVelocityIsMutable();
        velocity_.addDouble(value);
        onChanged();
        return this;
      }
      /**
       * <pre>
       * 可选：关节速度
       * </pre>
       *
       * <code>repeated double velocity = 3;</code>
       * @param values The velocity to add.
       * @return This builder for chaining.
       */
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        ensureVelocityIsMutable();
        com.google.protobuf.AbstractMessageLite.Builder.addAll(
            values, velocity_);
        onChanged();
        return this;
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       * <pre>
       * 可选：关节速度
       * </pre>
       *
       * <code>repeated double velocity = 3;</code>
       * @return This builder for chaining.
       */
      public Builder clearVelocity() {
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        bitField0_ = (bitField0_ & ~0x00000004);
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          effort_ = mutableCopy(effort_);
          bitField0_ |= 0x00000008;
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      }
      /**
       * <pre>
       * 可选：关节力矩
       * </pre>
       *
       * <code>repeated double effort = 4;</code>
       * @return A list containing the effort.
       */
      public java.util.List<java.lang.Double>
          getEffortList() {
        return ((bitField0_ & 0x00000008) != 0) ?
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      }
      /**
       * <pre>
       * 可选：关节力矩
       * </pre>
       *
       * <code>repeated double effort = 4;</code>
       * @return The count of effort.
       */
      public int getEffortCount() {
        return effort_.size();
      }
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       * <pre>
       * 可选：关节力矩
       * </pre>
       *
       * <code>repeated double effort = 4;</code>
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       * @return The effort at the given index.
       */
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       * <pre>
       * 可选：关节力矩
       * </pre>
       *
       * <code>repeated double effort = 4;</code>
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       * @param value The effort to set.
       * @return This builder for chaining.
       */
      public Builder setEffort(
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        ensureEffortIsMutable();
        effort_.setDouble(index, value);
        onChanged();
        return this;
      }
      /**
       * <pre>
       * 可选：关节力矩
       * </pre>
       *
       * <code>repeated double effort = 4;</code>
       * @param value The effort to add.
       * @return This builder for chaining.
       */
      public Builder addEffort(double value) {
        ensureEffortIsMutable();
        effort_.addDouble(value);
        onChanged();
        return this;
      }
      /**
       * <pre>
       * 可选：关节力矩
       * </pre>
       *
       * <code>repeated double effort = 4;</code>
       * @param values The effort to add.
       * @return This builder for chaining.
       */
      public Builder addAllEffort(
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        com.google.protobuf.AbstractMessageLite.Builder.addAll(
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        onChanged();
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       * <pre>
       * 可选：关节力矩
       * </pre>
       *
       * <code>repeated double effort = 4;</code>
       * @return This builder for chaining.
       */
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        bitField0_ = (bitField0_ & ~0x00000008);
        onChanged();
        return this;
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      private double timestamp_ ;
      /**
       * <pre>
       * 可选：时间戳
       * </pre>
       *
       * <code>double timestamp = 5;</code>
       * @return The timestamp.
       */
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      public double getTimestamp() {
        return timestamp_;
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       * <pre>
       * 可选：时间戳
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       *
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       * @return This builder for chaining.
       */
      public Builder setTimestamp(double value) {
        
        timestamp_ = value;
        onChanged();
        return this;
      }
      /**
       * <pre>
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       * </pre>
       *
       * <code>double timestamp = 5;</code>
       * @return This builder for chaining.
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        timestamp_ = 0D;
        onChanged();
        return this;
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      @java.lang.Override
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      // @@protoc_insertion_point(builder_scope:cmvr.api.JointState)
    }

    // @@protoc_insertion_point(class_scope:cmvr.api.JointState)
    private static final cmvr.api.HumanoidRobotCommand.JointState DEFAULT_INSTANCE;
    static {
      DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.JointState();
    }

    public static cmvr.api.HumanoidRobotCommand.JointState getDefaultInstance() {
      return DEFAULT_INSTANCE;
    }

    private static final com.google.protobuf.Parser<JointState>
        PARSER = new com.google.protobuf.AbstractParser<JointState>() {
      @java.lang.Override
      public JointState parsePartialFrom(
          com.google.protobuf.CodedInputStream input,
          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
          throws com.google.protobuf.InvalidProtocolBufferException {
        Builder builder = newBuilder();
        try {
          builder.mergeFrom(input, extensionRegistry);
        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
          throw e.setUnfinishedMessage(builder.buildPartial());
        } catch (com.google.protobuf.UninitializedMessageException e) {
          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
        } catch (java.io.IOException e) {
          throw new com.google.protobuf.InvalidProtocolBufferException(e)
              .setUnfinishedMessage(builder.buildPartial());
        }
        return builder.buildPartial();
      }
    };

    public static com.google.protobuf.Parser<JointState> parser() {
      return PARSER;
    }

    @java.lang.Override
    public com.google.protobuf.Parser<JointState> getParserForType() {
      return PARSER;
    }

    @java.lang.Override
    public cmvr.api.HumanoidRobotCommand.JointState getDefaultInstanceForType() {
      return DEFAULT_INSTANCE;
    }

  }

  public interface JointResponseOrBuilder extends
      // @@protoc_insertion_point(interface_extends:cmvr.api.JointResponse)
      com.google.protobuf.MessageOrBuilder {

    /**
     * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
     * @return Whether the header field is set.
     */
    boolean hasHeader();
    /**
     * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
     * @return The header.
     */
    cmvr.api.Common.CommandHeader.Feedback getHeader();
    /**
     * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
     */
    cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();

    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    java.util.List<cmvr.api.HumanoidRobotCommand.JointState> 
        getStateList();
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    cmvr.api.HumanoidRobotCommand.JointState getState(int index);
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    int getStateCount();
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    java.util.List<? extends cmvr.api.HumanoidRobotCommand.JointStateOrBuilder> 
        getStateOrBuilderList();
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
        int index);
  }
  /**
   * <pre>
   * 返回消息
   * </pre>
   *
   * Protobuf type {@code cmvr.api.JointResponse}
   */
  public static final class JointResponse extends
      com.google.protobuf.GeneratedMessageV3 implements
      // @@protoc_insertion_point(message_implements:cmvr.api.JointResponse)
      JointResponseOrBuilder {
  private static final long serialVersionUID = 0L;
    // Use JointResponse.newBuilder() to construct.
    private JointResponse(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
      super(builder);
    }
    private JointResponse() {
      state_ = java.util.Collections.emptyList();
    }

    @java.lang.Override
    @SuppressWarnings({"unused"})
    protected java.lang.Object newInstance(
        UnusedPrivateParameter unused) {
      return new JointResponse();
    }

    @java.lang.Override
    public final com.google.protobuf.UnknownFieldSet
    getUnknownFields() {
      return this.unknownFields;
    }
    public static final com.google.protobuf.Descriptors.Descriptor
        getDescriptor() {
      return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_descriptor;
    }

    @java.lang.Override
    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
        internalGetFieldAccessorTable() {
      return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_fieldAccessorTable
          .ensureFieldAccessorsInitialized(
              cmvr.api.HumanoidRobotCommand.JointResponse.class, cmvr.api.HumanoidRobotCommand.JointResponse.Builder.class);
    }

    public static final int HEADER_FIELD_NUMBER = 1;
    private cmvr.api.Common.CommandHeader.Feedback header_;
    /**
     * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
     * @return Whether the header field is set.
     */
    @java.lang.Override
    public boolean hasHeader() {
      return header_ != null;
    }
    /**
     * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
     * @return The header.
     */
    @java.lang.Override
    public cmvr.api.Common.CommandHeader.Feedback getHeader() {
      return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
    }
    /**
     * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
     */
    @java.lang.Override
    public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
      return getHeader();
    }

    public static final int STATE_FIELD_NUMBER = 2;
    private java.util.List<cmvr.api.HumanoidRobotCommand.JointState> state_;
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    @java.lang.Override
    public java.util.List<cmvr.api.HumanoidRobotCommand.JointState> getStateList() {
      return state_;
    }
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    @java.lang.Override
    public java.util.List<? extends cmvr.api.HumanoidRobotCommand.JointStateOrBuilder> 
        getStateOrBuilderList() {
      return state_;
    }
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    @java.lang.Override
    public int getStateCount() {
      return state_.size();
    }
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    @java.lang.Override
    public cmvr.api.HumanoidRobotCommand.JointState getState(int index) {
      return state_.get(index);
    }
    /**
     * <code>repeated .cmvr.api.JointState state = 2;</code>
     */
    @java.lang.Override
    public cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
        int index) {
      return state_.get(index);
    }

    private byte memoizedIsInitialized = -1;
    @java.lang.Override
    public final boolean isInitialized() {
      byte isInitialized = memoizedIsInitialized;
      if (isInitialized == 1) return true;
      if (isInitialized == 0) return false;

      memoizedIsInitialized = 1;
      return true;
    }

    @java.lang.Override
    public void writeTo(com.google.protobuf.CodedOutputStream output)
                        throws java.io.IOException {
      if (header_ != null) {
        output.writeMessage(1, getHeader());
      }
      for (int i = 0; i < state_.size(); i++) {
        output.writeMessage(2, state_.get(i));
      }
      getUnknownFields().writeTo(output);
    }

    @java.lang.Override
    public int getSerializedSize() {
      int size = memoizedSize;
      if (size != -1) return size;

      size = 0;
      if (header_ != null) {
        size += com.google.protobuf.CodedOutputStream
          .computeMessageSize(1, getHeader());
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      for (int i = 0; i < state_.size(); i++) {
        size += com.google.protobuf.CodedOutputStream
          .computeMessageSize(2, state_.get(i));
      }
      size += getUnknownFields().getSerializedSize();
      memoizedSize = size;
      return size;
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    @java.lang.Override
    public boolean equals(final java.lang.Object obj) {
      if (obj == this) {
       return true;
      }
      if (!(obj instanceof cmvr.api.HumanoidRobotCommand.JointResponse)) {
        return super.equals(obj);
      }
      cmvr.api.HumanoidRobotCommand.JointResponse other = (cmvr.api.HumanoidRobotCommand.JointResponse) obj;

      if (hasHeader() != other.hasHeader()) return false;
      if (hasHeader()) {
        if (!getHeader()
            .equals(other.getHeader())) return false;
      }
      if (!getStateList()
          .equals(other.getStateList())) return false;
      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
      return true;
    }

    @java.lang.Override
    public int hashCode() {
      if (memoizedHashCode != 0) {
        return memoizedHashCode;
      }
      int hash = 41;
      hash = (19 * hash) + getDescriptor().hashCode();
      if (hasHeader()) {
        hash = (37 * hash) + HEADER_FIELD_NUMBER;
        hash = (53 * hash) + getHeader().hashCode();
      }
      if (getStateCount() > 0) {
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        hash = (53 * hash) + getStateList().hashCode();
      }
      hash = (29 * hash) + getUnknownFields().hashCode();
      memoizedHashCode = hash;
      return hash;
    }

    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        java.nio.ByteBuffer data)
        throws com.google.protobuf.InvalidProtocolBufferException {
      return PARSER.parseFrom(data);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        java.nio.ByteBuffer data,
        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
        throws com.google.protobuf.InvalidProtocolBufferException {
      return PARSER.parseFrom(data, extensionRegistry);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        com.google.protobuf.ByteString data)
        throws com.google.protobuf.InvalidProtocolBufferException {
      return PARSER.parseFrom(data);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        com.google.protobuf.ByteString data,
        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
        throws com.google.protobuf.InvalidProtocolBufferException {
      return PARSER.parseFrom(data, extensionRegistry);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(byte[] data)
        throws com.google.protobuf.InvalidProtocolBufferException {
      return PARSER.parseFrom(data);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        byte[] data,
        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
        throws com.google.protobuf.InvalidProtocolBufferException {
      return PARSER.parseFrom(data, extensionRegistry);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(java.io.InputStream input)
        throws java.io.IOException {
      return com.google.protobuf.GeneratedMessageV3
          .parseWithIOException(PARSER, input);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        java.io.InputStream input,
        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
        throws java.io.IOException {
      return com.google.protobuf.GeneratedMessageV3
          .parseWithIOException(PARSER, input, extensionRegistry);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseDelimitedFrom(java.io.InputStream input)
        throws java.io.IOException {
      return com.google.protobuf.GeneratedMessageV3
          .parseDelimitedWithIOException(PARSER, input);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseDelimitedFrom(
        java.io.InputStream input,
        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
        throws java.io.IOException {
      return com.google.protobuf.GeneratedMessageV3
          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        com.google.protobuf.CodedInputStream input)
        throws java.io.IOException {
      return com.google.protobuf.GeneratedMessageV3
          .parseWithIOException(PARSER, input);
    }
    public static cmvr.api.HumanoidRobotCommand.JointResponse parseFrom(
        com.google.protobuf.CodedInputStream input,
        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
        throws java.io.IOException {
      return com.google.protobuf.GeneratedMessageV3
          .parseWithIOException(PARSER, input, extensionRegistry);
    }

    @java.lang.Override
    public Builder newBuilderForType() { return newBuilder(); }
    public static Builder newBuilder() {
      return DEFAULT_INSTANCE.toBuilder();
    }
    public static Builder newBuilder(cmvr.api.HumanoidRobotCommand.JointResponse prototype) {
      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
    }
    @java.lang.Override
    public Builder toBuilder() {
      return this == DEFAULT_INSTANCE
          ? new Builder() : new Builder().mergeFrom(this);
    }

    @java.lang.Override
    protected Builder newBuilderForType(
        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
      Builder builder = new Builder(parent);
      return builder;
    }
    /**
     * <pre>
     * 返回消息
     * </pre>
     *
     * Protobuf type {@code cmvr.api.JointResponse}
     */
    public static final class Builder extends
        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
        // @@protoc_insertion_point(builder_implements:cmvr.api.JointResponse)
        cmvr.api.HumanoidRobotCommand.JointResponseOrBuilder {
      public static final com.google.protobuf.Descriptors.Descriptor
          getDescriptor() {
        return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_descriptor;
      }

      @java.lang.Override
      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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        return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_fieldAccessorTable
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                cmvr.api.HumanoidRobotCommand.JointResponse.class, cmvr.api.HumanoidRobotCommand.JointResponse.Builder.class);
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      // Construct using cmvr.api.HumanoidRobotCommand.JointResponse.newBuilder()
      private Builder() {

      }

      private Builder(
          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
        super(parent);

      }
      @java.lang.Override
      public Builder clear() {
        super.clear();
        if (headerBuilder_ == null) {
          header_ = null;
        } else {
          header_ = null;
          headerBuilder_ = null;
        }
        if (stateBuilder_ == null) {
          state_ = java.util.Collections.emptyList();
        } else {
          state_ = null;
          stateBuilder_.clear();
        }
        bitField0_ = (bitField0_ & ~0x00000001);
        return this;
      }

      @java.lang.Override
      public com.google.protobuf.Descriptors.Descriptor
          getDescriptorForType() {
        return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_descriptor;
      }

      @java.lang.Override
      public cmvr.api.HumanoidRobotCommand.JointResponse getDefaultInstanceForType() {
        return cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance();
      }

      @java.lang.Override
      public cmvr.api.HumanoidRobotCommand.JointResponse build() {
        cmvr.api.HumanoidRobotCommand.JointResponse result = buildPartial();
        if (!result.isInitialized()) {
          throw newUninitializedMessageException(result);
        }
        return result;
      }

      @java.lang.Override
      public cmvr.api.HumanoidRobotCommand.JointResponse buildPartial() {
        cmvr.api.HumanoidRobotCommand.JointResponse result = new cmvr.api.HumanoidRobotCommand.JointResponse(this);
        int from_bitField0_ = bitField0_;
        if (headerBuilder_ == null) {
          result.header_ = header_;
        } else {
          result.header_ = headerBuilder_.build();
        }
        if (stateBuilder_ == null) {
          if (((bitField0_ & 0x00000001) != 0)) {
            state_ = java.util.Collections.unmodifiableList(state_);
            bitField0_ = (bitField0_ & ~0x00000001);
          }
          result.state_ = state_;
        } else {
          result.state_ = stateBuilder_.build();
        }
        onBuilt();
        return result;
      }

      @java.lang.Override
      public Builder clone() {
        return super.clone();
      }
      @java.lang.Override
      public Builder setField(
          com.google.protobuf.Descriptors.FieldDescriptor field,
          java.lang.Object value) {
        return super.setField(field, value);
      }
      @java.lang.Override
      public Builder clearField(
          com.google.protobuf.Descriptors.FieldDescriptor field) {
        return super.clearField(field);
      }
      @java.lang.Override
      public Builder clearOneof(
          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
        return super.clearOneof(oneof);
      }
      @java.lang.Override
      public Builder setRepeatedField(
          com.google.protobuf.Descriptors.FieldDescriptor field,
          int index, java.lang.Object value) {
        return super.setRepeatedField(field, index, value);
      }
      @java.lang.Override
      public Builder addRepeatedField(
          com.google.protobuf.Descriptors.FieldDescriptor field,
          java.lang.Object value) {
        return super.addRepeatedField(field, value);
      }
      @java.lang.Override
      public Builder mergeFrom(com.google.protobuf.Message other) {
        if (other instanceof cmvr.api.HumanoidRobotCommand.JointResponse) {
          return mergeFrom((cmvr.api.HumanoidRobotCommand.JointResponse)other);
        } else {
          super.mergeFrom(other);
          return this;
        }
      }

      public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.JointResponse other) {
        if (other == cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()) return this;
        if (other.hasHeader()) {
          mergeHeader(other.getHeader());
        }
        if (stateBuilder_ == null) {
          if (!other.state_.isEmpty()) {
            if (state_.isEmpty()) {
              state_ = other.state_;
              bitField0_ = (bitField0_ & ~0x00000001);
            } else {
              ensureStateIsMutable();
              state_.addAll(other.state_);
            }
            onChanged();
          }
        } else {
          if (!other.state_.isEmpty()) {
            if (stateBuilder_.isEmpty()) {
              stateBuilder_.dispose();
              stateBuilder_ = null;
              state_ = other.state_;
              bitField0_ = (bitField0_ & ~0x00000001);
              stateBuilder_ = 
                com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
                   getStateFieldBuilder() : null;
            } else {
              stateBuilder_.addAllMessages(other.state_);
            }
          }
        }
        this.mergeUnknownFields(other.getUnknownFields());
        onChanged();
        return this;
      }

      @java.lang.Override
      public final boolean isInitialized() {
        return true;
      }

      @java.lang.Override
      public Builder mergeFrom(
          com.google.protobuf.CodedInputStream input,
          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
          throws java.io.IOException {
        if (extensionRegistry == null) {
          throw new java.lang.NullPointerException();
        }
        try {
          boolean done = false;
          while (!done) {
            int tag = input.readTag();
            switch (tag) {
              case 0:
                done = true;
                break;
              case 10: {
                input.readMessage(
                    getHeaderFieldBuilder().getBuilder(),
                    extensionRegistry);

                break;
              } // case 10
              case 18: {
                cmvr.api.HumanoidRobotCommand.JointState m =
                    input.readMessage(
                        cmvr.api.HumanoidRobotCommand.JointState.parser(),
                        extensionRegistry);
                if (stateBuilder_ == null) {
                  ensureStateIsMutable();
                  state_.add(m);
                } else {
                  stateBuilder_.addMessage(m);
                }
                break;
              } // case 18
              default: {
                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                  done = true; // was an endgroup tag
                }
                break;
              } // default:
            } // switch (tag)
          } // while (!done)
        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
          throw e.unwrapIOException();
        } finally {
          onChanged();
        } // finally
        return this;
      }
      private int bitField0_;

      private cmvr.api.Common.CommandHeader.Feedback header_;
      private com.google.protobuf.SingleFieldBuilderV3<
          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       * @return Whether the header field is set.
       */
      public boolean hasHeader() {
        return headerBuilder_ != null || header_ != null;
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       * @return The header.
       */
      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
        if (headerBuilder_ == null) {
          return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
        } else {
          return headerBuilder_.getMessage();
        }
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       */
      public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
        if (headerBuilder_ == null) {
          if (value == null) {
            throw new NullPointerException();
          }
          header_ = value;
          onChanged();
        } else {
          headerBuilder_.setMessage(value);
        }

        return this;
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       */
      public Builder setHeader(
          cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
        if (headerBuilder_ == null) {
          header_ = builderForValue.build();
          onChanged();
        } else {
          headerBuilder_.setMessage(builderForValue.build());
        }

        return this;
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       */
      public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
        if (headerBuilder_ == null) {
          if (header_ != null) {
            header_ =
              cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
          } else {
            header_ = value;
          }
          onChanged();
        } else {
          headerBuilder_.mergeFrom(value);
        }

        return this;
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       */
      public Builder clearHeader() {
        if (headerBuilder_ == null) {
          header_ = null;
          onChanged();
        } else {
          header_ = null;
          headerBuilder_ = null;
        }

        return this;
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       */
      public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
        
        onChanged();
        return getHeaderFieldBuilder().getBuilder();
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       */
      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
        if (headerBuilder_ != null) {
          return headerBuilder_.getMessageOrBuilder();
        } else {
          return header_ == null ?
              cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
        }
      }
      /**
       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
       */
      private com.google.protobuf.SingleFieldBuilderV3<
          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
          getHeaderFieldBuilder() {
        if (headerBuilder_ == null) {
          headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
              cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
                  getHeader(),
                  getParentForChildren(),
                  isClean());
          header_ = null;
        }
        return headerBuilder_;
      }

      private java.util.List<cmvr.api.HumanoidRobotCommand.JointState> state_ =
        java.util.Collections.emptyList();
      private void ensureStateIsMutable() {
        if (!((bitField0_ & 0x00000001) != 0)) {
          state_ = new java.util.ArrayList<cmvr.api.HumanoidRobotCommand.JointState>(state_);
          bitField0_ |= 0x00000001;
         }
      }

      private com.google.protobuf.RepeatedFieldBuilderV3<
          cmvr.api.HumanoidRobotCommand.JointState, cmvr.api.HumanoidRobotCommand.JointState.Builder, cmvr.api.HumanoidRobotCommand.JointStateOrBuilder> stateBuilder_;

      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public java.util.List<cmvr.api.HumanoidRobotCommand.JointState> getStateList() {
        if (stateBuilder_ == null) {
          return java.util.Collections.unmodifiableList(state_);
        } else {
          return stateBuilder_.getMessageList();
        }
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public int getStateCount() {
        if (stateBuilder_ == null) {
          return state_.size();
        } else {
          return stateBuilder_.getCount();
        }
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public cmvr.api.HumanoidRobotCommand.JointState getState(int index) {
        if (stateBuilder_ == null) {
          return state_.get(index);
        } else {
          return stateBuilder_.getMessage(index);
        }
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder setState(
          int index, cmvr.api.HumanoidRobotCommand.JointState value) {
        if (stateBuilder_ == null) {
          if (value == null) {
            throw new NullPointerException();
          }
          ensureStateIsMutable();
          state_.set(index, value);
          onChanged();
        } else {
          stateBuilder_.setMessage(index, value);
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder setState(
          int index, cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
        if (stateBuilder_ == null) {
          ensureStateIsMutable();
          state_.set(index, builderForValue.build());
          onChanged();
        } else {
          stateBuilder_.setMessage(index, builderForValue.build());
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder addState(cmvr.api.HumanoidRobotCommand.JointState value) {
        if (stateBuilder_ == null) {
          if (value == null) {
            throw new NullPointerException();
          }
          ensureStateIsMutable();
          state_.add(value);
          onChanged();
        } else {
          stateBuilder_.addMessage(value);
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder addState(
          int index, cmvr.api.HumanoidRobotCommand.JointState value) {
        if (stateBuilder_ == null) {
          if (value == null) {
            throw new NullPointerException();
          }
          ensureStateIsMutable();
          state_.add(index, value);
          onChanged();
        } else {
          stateBuilder_.addMessage(index, value);
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder addState(
          cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
        if (stateBuilder_ == null) {
          ensureStateIsMutable();
          state_.add(builderForValue.build());
          onChanged();
        } else {
          stateBuilder_.addMessage(builderForValue.build());
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder addState(
          int index, cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
        if (stateBuilder_ == null) {
          ensureStateIsMutable();
          state_.add(index, builderForValue.build());
          onChanged();
        } else {
          stateBuilder_.addMessage(index, builderForValue.build());
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder addAllState(
          java.lang.Iterable<? extends cmvr.api.HumanoidRobotCommand.JointState> values) {
        if (stateBuilder_ == null) {
          ensureStateIsMutable();
          com.google.protobuf.AbstractMessageLite.Builder.addAll(
              values, state_);
          onChanged();
        } else {
          stateBuilder_.addAllMessages(values);
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder clearState() {
        if (stateBuilder_ == null) {
          state_ = java.util.Collections.emptyList();
          bitField0_ = (bitField0_ & ~0x00000001);
          onChanged();
        } else {
          stateBuilder_.clear();
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public Builder removeState(int index) {
        if (stateBuilder_ == null) {
          ensureStateIsMutable();
          state_.remove(index);
          onChanged();
        } else {
          stateBuilder_.remove(index);
        }
        return this;
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public cmvr.api.HumanoidRobotCommand.JointState.Builder getStateBuilder(
          int index) {
        return getStateFieldBuilder().getBuilder(index);
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
          int index) {
        if (stateBuilder_ == null) {
          return state_.get(index);  } else {
          return stateBuilder_.getMessageOrBuilder(index);
        }
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public java.util.List<? extends cmvr.api.HumanoidRobotCommand.JointStateOrBuilder> 
           getStateOrBuilderList() {
        if (stateBuilder_ != null) {
          return stateBuilder_.getMessageOrBuilderList();
        } else {
          return java.util.Collections.unmodifiableList(state_);
        }
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public cmvr.api.HumanoidRobotCommand.JointState.Builder addStateBuilder() {
        return getStateFieldBuilder().addBuilder(
            cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance());
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public cmvr.api.HumanoidRobotCommand.JointState.Builder addStateBuilder(
          int index) {
        return getStateFieldBuilder().addBuilder(
            index, cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance());
      }
      /**
       * <code>repeated .cmvr.api.JointState state = 2;</code>
       */
      public java.util.List<cmvr.api.HumanoidRobotCommand.JointState.Builder> 
           getStateBuilderList() {
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      "\010cmvr.api\032\025cmvr/api/common.proto\"8\n\010Join" +
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      "ponse\0220\n\006header\030\001 \001(\0132 .cmvr.api.Command" +
      "Header.Feedback\"\342\001\n\006SpeedJ\032\231\001\n\007Request\022/" +
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      "Request\022\022\n\njoint_name\030\002 \001(\t\022\013\n\003vel\030\003 \001(\001" +
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      "botJointIndexDirection\032<\n\010Response\0220\n\006he" +
      "ader\030\001 \001(\0132 .cmvr.api.CommandHeader.Feed" +
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      "ee_link\030\002 \001(\t\022\013\n\003vel\030\003 \001(\001\022\013\n\003acc\030\004 \001(\001\022" +
      "/\n\003dir\030\005 \001(\0162\".cmvr.api.RobotJointIndexD" +
      "irection\022&\n\004cart\030\006 \001(\0162\030.cmvr.api.RobotC" +
      "artesian\032<\n\010Response\0220\n\006header\030\001 \001(\0132 .c" +
      "mvr.api.CommandHeader.Feedback\"a\n\nJointS" +
      "tate\022\014\n\004name\030\001 \003(\t\022\020\n\010position\030\002 \003(\001\022\020\n\010" +
      "velocity\030\003 \003(\001\022\016\n\006effort\030\004 \003(\001\022\021\n\ttimest" +
      "amp\030\005 \001(\001\"f\n\rJointResponse\0220\n\006header\030\001 \001" +
      "(\0132 .cmvr.api.CommandHeader.Feedback\022#\n\005" +
      "state\030\002 \003(\0132\024.cmvr.api.JointState\"?\n\014Joi" +
      "ntRequest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Com" +
      "mandHeader.Request*=\n\016RobotCartesian\022\005\n\001" +
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      "\005*\277\001\n\030RobotJointIndexDirection\022\013\n\007FORWAR" +
      "D\020\000\022\014\n\010BACKWARD\020\001\022\016\n\nX_POSITIVE\020\002\022\016\n\nX_N" +
      "EGATIVE\020\003\022\016\n\nY_POSITIVE\020\004\022\016\n\nY_NEGATIVE\020" +
      "\005\022\016\n\nZ_POSITIVE\020\006\022\016\n\nZ_NEGATIVE\020\007\022\014\n\010ROT" +
      "ATE_X\020\010\022\014\n\010ROTATE_Y\020\t\022\014\n\010ROTATE_Z\020\nb\006pro" +
      "to3"
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  // @@protoc_insertion_point(outer_class_scope)
}
