from enum import Enum
from typing import Sequence
from cyberwave.mqtt.entity import Entity



class JointStatePayload(Entity):

    class JointState(Entity):

        def __init__(
                self,
                position: float,
                velocity: float,
                effort: float):
            self.position = position
            self.velocity = velocity
            self.effort = effort


    def __init__(
            self,
            jointName: str,
            jointState: JointState,
            timestamp: float):
        self.jointName = jointName
        self.jointState = jointState
        self.timestamp = timestamp


