int main (void) { Message mymsg(45); cout << "mymsg:" << endl << mymsg.toString() << endl; hydrointerfaces::MitsubishiPA10::ManipulatorCommand cmd; for (unsigned int n=0; n<7; ++n) { hydrointerfaces::MitsubishiPA10::ServoCmd servo; servo.brakeON = true; servo.isTorqueCmd = true; servo.servoON = false; servo.cmdValue = 1.0; cmd.servoCmds.push_back(servo); } MotionCommandFactory fact(cmd); MessagePtr cmdmsg = fact.createMessage(); cout << "cmdmsg:" << endl << cmdmsg->toString() << endl; }